İki düzlemsel robot kol iş birliği ile çalkalanmadan sıvı taşınımının kutup yerleştirme ve LQR kontrolü

Yıl 2020, Cilt: 35 Sayı: 4, 2255 - 2268, 21.07.2020

Babak Naseri Soufiani Mehmet Arif Adlı

https://doi.org/10.17341/gazimmfd.703502

Öz

Günümüzde robotların günlük yaşamdaki kullanım alanları ve üstlendikleri roller hızla artmakta ve çeşitlilik göstermektedir. Robotlar ile sıvı taşıma işlemi de son zamanlarda bu kapsamda üzerinde çalışma yapılmaya başlanan konular arasındadır. Bu makalede, içi sıvı dolu bir kabın iki robot kolu işbirliğiyle çalkalanmadan ve dökülmeden taşınması incelenmiştir. İki robotik kol herhangi bir nesneyi birlikte hareket ettirdiğinde, kinematik olarak kapalı bir zincir oluşur ve bu durum, ele alınan sistemin matematiksel olarak karmaşıklığını artıran bir dizi kısıtlamaların ortaya çıkmasına neden olur. Bu çalışmada, sıvı çalkalanmasının doğrusal olmayan dinamiği, Genişletilmiş Taylor Serisi fonksiyonları ile doğrusalaştırılmıştır. Ardından, sıvı dolu kabı çalkalanmadan, dökülmeden ve yüksek hızla taşımak için kutup yerleştirme (Pole Placement) ve doğrusal karesel düzenleyici (LQR) kontrol yöntemleri kullanılıp, bu iki yöntem sonuçları birbirleriyle teknik olarak karşılaştırılmıştır.

Anahtar Kelimeler

Kooperatif robotlar, sıvı dinamiği, kapalı kinematik, LQR kontrolü, kutup yerleştirme kontrolü

Kaynakça

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