jrens Journal of New Results in Engineering and Natural Sciences 2651-4583 Tokat Gaziosmanpasa University Engineering Mühendislik Haptik-Teleoperasyon Sistemleri için PID ve SMC Kontrol Yöntemlerinin Tasarımı ve Bilgisayar Simülasyonu https://orcid.org/0000-0003-4646-3345 Abut Tayfun MUŞ ALPARSLAN ÜNİVERSİTESİ https://orcid.org/0000-0002-8191-6891 Soygüder Servet ANKARA YILDIRIM BEYAZIT ÜNİVERSİTESİ 12 31 2020 12 12 21 12 16 2020 12 30 2020 Copyright © 2013, Journal of New Results in Engineering and Natural Sciences 2013 Journal of New Results in Engineering and Natural Sciences

Haptik-Teleoperasyon sistemleri, insan-robot etkileşiminde kullanılan sistemlerden biridir. Bu sistemlerin temel hedefi iki yönlü kesintisiz etkileşimdir. Bu hedef ancak sorunsuz çalışan iki yönlü kontrol ile mümkündür. Bu çalışmada sistemin kendinden veya çevreden kaynaklanacak tüm belirsizliklerin üstesinden gelmesi için PID ve Kayan Kipli Kontrol(Sliding Mode Control-SMC) yöntemleri tasarlanmış ve simülasyonu gerçekleştirilmiştir. Öncelikle sistemin hareket denklemleri elde edilmiştir. SMC yönteminde kullanılan signum işaret fonksiyonu çatırmada probleminde neden olduğu bilindiğinden çatırdama probleminin de giderilmesi için saturasyon fonksiyonu önerilmiş ve uygulanmıştır. Sonuç olarak haptik-teleoperasyon sistemleri için iki yönlü kontrol benzetim ortamında gerçekleştirilmiş, sonuçlar grafikler ve tablolar halinde verilmiştir. Performans kriterleri (RMSE ve MAE) kullanılarak sonuçlar karşılaştırılmış ve irdelenmiştir.

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