TY - JOUR T1 - Motion Optimization of A 6 Axes Robot Manipulator Used for Material Handling Purposes via Dynamic Programming TT - MALZEME YÜKLEME AMAÇLI 6 EKSEN BİR ROBOT MANİPÜLATÖRÜN DİNAMİK PROGRAMLAMA İLE HAREKET OPTİMİZASYONU AU - Goren, Aytac AU - Çakır, Umut PY - 2018 DA - April Y2 - 2018 DO - 10.17482/uumfd.313881 JF - Uludağ Üniversitesi Mühendislik Fakültesi Dergisi JO - UUJFE PB - Bursa Uludağ University WT - DergiPark SN - 2148-4155 SP - 153 EP - 166 VL - 23 IS - 1 LA - en AB - Due to theincreasing cost of energy besides the environmental concerns, energyconsumption is one of the hot topic in today’s world. In this context,companies are searching for the ways to reduce their energy consumptions andtheir Carbon footprint. For a manufacturing company, one method to accomplishthese is to increase their process efficiency. In this research, a productioncell which contains a robot manipulator used for material handling purposes istried to be modeled in computer environment, using dynamic programming over thecomputer model, system parameters increasing production capacity in addition toreducing the energy consumption and improvements depending on these arepresented. KW - Robot manipulator KW - motion optimization KW - dynamic programming KW - optimal control N2 - Çevreselkaygılarına ek olarak enerji maliyetinin artışı, günümüz dünyasında enerjisarfiyatı önemli başlıklardan birisi haline gelmiştir. Bu bağlamda, şirketlerde enerji sarfiyatlarını ve karbon ayak izlerini düşürme yönünde araştırmalaryapmaktadırlar. Üretim yapan bir şirket için bu konuda başarı elde etmenin bir yöntemi verimliliklerini arttırmaktangeçmektedir. Bu çalışmada, üretimde malzeme aktarımı görevi olan bir robotmanipülatör, bilgisayar yardımıyla modellenmeye çalışılmış, model üzerindedinamik programlama ile üretim kapasitesinin arttırılması, enerji sarfiyatınındüşürülmesini sağlayan sistem parametreleri ile geliştirmeler sunulmayaçalışılmıştır. CR - Aghanouri, M., Habibollahi, A., Esmaeili, A., Faghihian, H., and Koloushani, M. (2011) Optimization of robotic manipulators parameters modeled with integrated equations of actuators and links, 3rd International Students Conference on Electrodynamics and Mechatronics (SCE III), Opole, Poland, 31-36, DOI: 10.1109/SCE.2011.6092120. CR - Aldana, C.I., Nuño, E., Basañez, L., and Romero, E. (2014) Operational space consensus of multiple heterogeneous robots without velocity measurements, Journal of the Franklin Institute 351(3), 1517-1539. DOI: 10.1016/j.jfranklin.2013.11.012. CR - Carter, T. 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(2014) Planning manipulation movements of a dual-arm system considering obstacle removing, Robotics and Autonomous Systems, 62(12),1816-1826. DOI: 10.1016/j.robot.2014.07.003 CR - Staniak, M. and Zieliński, C. (2010) Structures of visual servos, Robotics and Autonomous Systems, 58(8), 940-954. DOI: 10.1016/j.robot.2010.04.004 CR - Wang, D., Bai, Y. and Zhao, J. (2012)Robot manipulator calibration using neural network and a camera-based measurement system, Transactions of the Institute of Measurement and Control, 34(1), 105–121. DOI: 10.1177/0142331210377350 CR - Wang, H., Liu, Y.H. and Chen, W. (2012) Visual tracking of robots in uncalibrated environments, Mechatronics, 22(4), 390-397.DOI: 10.1016/j.mechatronics.2011.09.0006 UR - https://doi.org/10.17482/uumfd.313881 L1 - https://dergipark.org.tr/en/download/article-file/464674 ER -