Tek Serbestlik Dereceli Bir Teleoperasyon Sisteminde Kontrol Yöntemlerinin Performans Karşılaştırılması

Year 2019, Volume: 31 Issue: 2, 507 - 517, 27.09.2019

Tayfun Abut , Servet Soygüder

https://doi.org/10.35234/fumbd.563109

Cited By: 1

Abstract

Teleoperasyon sistemleri insan-robot etkileşimini(HRI) sağlayan sistemler olarak tanımlanmaktadır. Bu sistemlerin kontrolünün ilk olarak benzetim ortamında gerçekleştirilmesi, gerçek ortamda yapılacak deneyler öncesinde ve algoritma geliştirme aşamalarında tespit edilen hataların önlenmesi açısından önem taşımaktadır. Bu sistemlerin performans değerlendirilmelerinde konum ve kuvvet kontrolü önemli parametrelerdir. Bu çalışmada tek serbestlik dereceli ana (master) ve bağımlı(slave) robottan oluşan teleoperasyon sisteminin kontrolü hedeflenmiştir. Tek serbestlik dereceli robotların dinamik modelleri elde edilmiştir. Ayrıca bağımlı robotun hareketleri görselleştirmek için sanal ortamda görsel bir arayüz tasarlanmıştır. Bulanık mantık(Fuzzy Logic), PD tabanlı hesaplanmış tork kontrol(PD based-CTC) ve klasik PID kontrol yöntemleri kullanılarak sistemin iki yönlü gerçekleştirilmiştir. Bu yöntemler benzetim ortamında gerçekleştirilerek sonuçlar grafikler ve tablo şeklinde verilmiş ve irdelenmiştir.

Keywords

Teleoperasyon, Tek Serbestlik Dereceli Robot, Bulanık Mantık, PD-CTC, PID

Supporting Institution

Fırat Üniversitesi Bilimsel Araştırma Projeleri (FÜBAP)

Project Number

MF.13.15

Thanks

Bu çalışma Fırat Üniversitesi Bilimsel Araştırma Projeleri (FÜBAP) 2015, MF.13.15 ’nolu proje kapsamında desteklenmiştir.

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