SLEGS Robot ’un Tasarımı ve 2B-Navigasyon Uygulaması

Yıl 2018, Cilt: 30 Sayı: 1, 203 - 208, 01.03.2018

Servet Soygüder

Öz

Yapılan bu çalışmada, endüstride, terörle
mücadelede, savunmada ve birçok endüstriyel işlevlerde kullanılmak amacıyla
arazi ve engel şartlarına göre geleneksel tekerlek şeklindeki “O” şeklinden “S”
şekline dönüşebilen 6 adet bacaktan oluşan “SLEGS” isimli örümcek robot için
yeni bir bacak tasarımı-imalatı ve kontrolü gerçekleştirilmiştir. Bilinmelidir
ki paletli ya da tekerlekli robotların merdivenleri tırmanmaları imkânsızdır.
Bu tasarım tamamen geleneksel tekerlekli ve paletli robotlardaki bu problemleri
aşmak ve performansı arttırmak içindir. Ayrıca SLEGS Robot bir operatör yardımı
olmadan kendi iç yazılım ve hareket performansı sayesinde lazer sensörleri
kullanılarak oluşturulan görsel ara yüz ve iki boyutlu(2B) navigasyon ile
istenilen noktaya gidebilmektedir. SLEGS robota ait performans kriterleri elde
edilen videolar ve gerçek zamanlı 2B navigasyonun görsel ara yüzeyinden elde
edilerek değerlendirilmiştir.   

Anahtar Kelimeler

SLEGS Robot, Sanal Ara Yüzey, 2B Navigasyon, Robot Kontrol

Kaynakça

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