MALZEME YÜKLEME AMAÇLI 6 EKSEN BİR ROBOT MANİPÜLATÖRÜN DİNAMİK PROGRAMLAMA İLE HAREKET OPTİMİZASYONU

Year 2018, , 153 - 166, 24.04.2018

Aytac Goren , Umut Çakır

https://doi.org/10.17482/uumfd.313881

Abstract

Çevresel
kaygılarına ek olarak enerji maliyetinin artışı, günümüz dünyasında enerji
sarfiyatı önemli başlıklardan birisi haline gelmiştir. Bu bağlamda, şirketler
de enerji sarfiyatlarını ve karbon ayak izlerini düşürme yönünde araştırmalar
yapmaktadırlar. Üretim yapan bir şirket için bu konuda başarı elde etmenin  bir yöntemi verimliliklerini arttırmaktan
geçmektedir. Bu çalışmada, üretimde malzeme aktarımı görevi olan bir robot
manipülatör, bilgisayar yardımıyla modellenmeye çalışılmış, model üzerinde
dinamik programlama ile üretim kapasitesinin arttırılması, enerji sarfiyatının
düşürülmesini sağlayan sistem parametreleri ile geliştirmeler sunulmaya
çalışılmıştır.

Keywords

Robot manipülatör, hareket optimizasyonu, dinamik programlama, optimal kontrol

Motion Optimization of A 6 Axes Robot Manipulator Used for Material Handling Purposes via Dynamic Programming

Abstract

Due to the
increasing cost of energy besides the environmental concerns, energy
consumption is one of the hot topic in today’s world. In this context,
companies are searching for the ways to reduce their energy consumptions and
their Carbon footprint. For a manufacturing company, one method to accomplish
these is to increase their process efficiency. In this research, a production
cell which contains a robot manipulator used for material handling purposes is
tried to be modeled in computer environment, using dynamic programming over the
computer model, system parameters increasing production capacity in addition to
reducing the energy consumption and improvements depending on these are
presented.

Keywords

Robot manipulator, motion optimization, dynamic programming, optimal control

References

• 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.
• 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.
• Carter, T. (2009) The modeling of a six degree of freedom industrial robot for the purpose of efficient path planning, M.Sc. Thesis, The Pennsylvania State University, USA.
• Ding, W.H., Deng, H., Li, Q.M. and Xia, Y.M. (2014) Control-orientated dynamic modeling of forging manipulators with multi-closed kinematic chains, Robotics and Computer-Integrated Manufacturing, 30(5), 421-431. DOI: 10.1016/j.rcim.2014.01.003
• Gans, N.R., Hu, G., Shen, J., Zhang, Y. and Dixon, W.E. (2012) Adaptive visual servo control to simultaneously stabilize image and pose error, Mechatronics, 22(4), 410-422. DOI: 10.1016/j.mechatronics.2011.09.008
• Kirk, D.E. (1998) Optimal Control Theory: An Introduction, N.Y., Dovel Publication Inc.
• Lewis, F.L., Dawson, D.M. and Abdallah, C.T. (2004) Robot Manipulator Control Theory And Practice (2nd ed), N.Y., Marcel Dekker Inc.
• Meike, D. and Ribickis, L. (2011) Analysis of the energy efficient usage methods of medium and high payload industrial robots in the automobile industry, 10th International Symposium: "Topical Problems in the Field of Electrical and Power Engineering", Pärnu, Estonia, 62-66.
• Murray, R.M., Li, Z. and Sastry, S.S. (1994) A Mathematical Introduction to Robotic Manipulation (2nd ed.), USA, CRC Press.
• Owen, W.S., Croft, E.A. and Benhabib, B. (2008) A multi-arm robotic system for optimal sculpting, Robotics and Computer-Integrated Manufacturing, 24(1), 92-104. DOI: 10.1016/j.rcim.2006.08.001
• Rocha, C.R., Tonetto, C.P. and Dias, A. (2011) A comparison between the Denavit–Hartenberg and the screw-based methods used in kinematic modeling of robot manipulators. Robotics and Computer-Integrated Manufacturing, 27(4):723-728. DOI: 10.1016/j.rcim.2010.12.009
• Rodríguez, C., Montaño, A. and Suárez, R. (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
• 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
• 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
• 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