Araştırma Makalesi
Yıl 2017,
Cilt: 5 Sayı: 4, 223 - 233, 22.12.2017
Öz
Günümüzde
robot kolları birçok endüstriyel uygulamada yaygın olarak kullanılmaktadır. Bu
noktada, sağlık gibi alanlarda kullanılan robotlarda ise yüksek hassasiyetli
kontrol işlemlerine ihtiyaç duyulmaktadır. Bu yüzden robota uygulanan kontrol
yöntemi de önem arz etmektedir. Bu çalışmada ise üç serbestlik dereceli bir
robotun uç işlevcisine değişken kuvvet uygulanmış ve bozucu girişlere karşı
dayanıklılığı test edilmiştir. Bu işlem için PID kontrol ve bulanık mantık
kontrol yöntemi kullanılmıştır. Benzetim ortamında tasarımı ve simülasyonu
gerçekleştirilen robot kolunun bulanık mantık ve klasik PID ile kontrolü
sağlanmış, sonuçlar karşılaştırmalı olarak sunulmuştur.
Anahtar Kelimeler
Kaynakça
- [1] S. Yumurtacı and T. Mert, "Robotik Kaynak Sistemleri ve Gelişme İstikametleri," Mühendis ve Makine, vol. 44, no. 526, pp. 32-40, 2003. [2] B. V. Chapnik, G. R. Heppler and J. D. Aplevich, "Modeling Impact on A One-Link Flexible Robotic Arm," IEEE Transactions on Robotics and Automation, vol. 7, no. 4, pp. 479-488, 1991. [3] M. Ö. Efe, "Fractional Fuzzy Adaptive Sliding-Mode Control of a 2-DOF Direct-Drive Robot Arm," IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 38, no. 6, pp. 1561-1570, 2008. [4] M. Okada and Y. Nakamura, "Development of A Cybernetic Shoulder-A 3-Dof Mechanism that Imitates Biological Shoulder Motion," IEEE Transactions on Robotics, vol. 21, no. 3, pp. 438-444, 2005. [5] F. Gao, W. Li, X. Zhao, Z. Jin and H. Zhao, "New Kinematic Structures for 2-, 3-, 4-, and 5-DOF Parallel Manipulator Designs," Mechanism and Machine Theory, vol. 37, no. 11, pp. 1395-1411, 2002. [6] A. T. Hasan, A. S. Hamouda, N. Ismail and H. A. Al-Assadi, "An Adaptive-Learning Algorithm to Solve The Inverse Kinematics Problem of A 6 D.O.F Serial Robot Manipulator," Advances in Engineering Software, vol. 37, no. 7, pp. 432-438, 2006. [7] M. A. Mohammed, L. Hui, S. Norbert and T. Kerstin, "Multiple Lab Ware Manipulation in Life Science Laboratories using Mobile Robots," in 17th International Conference on Mechatronics-Mechatronika (ME), Prague, 2016. [8] M. Mihelj, T. Nef and R. Riener, "ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics," in IEEE International Conference on Robotics and Automation, Roma, 2007. [9] G. Yang, W. Lin, M. S. Kurbanhusen, C. B. Pham and S. H. Yeo, "Kinematic Design of A 7-DOF Cable-Driven Humanoid Arm: A Solution-in-Nature Approach," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, 2005. [10] S. K. Mustafa, G. Yang, S. H. Yeo, W. Lin and I. M. Chen, "Self-Calibration of a Biologically Inspired 7 DOF Cable-Driven Robotic Arm," in EEE/ASME Transactions on Mechatronics, 2008. [11] J. Cronin, J. M. Escano, S. Roshany-Yamchi and N. Canty, "Fuzzy-Based Generalized Predictive Control of a Robotic Arm," in 25th IET Irish Signals & Systems Conference, 2014. [12] K. Lochan and B. K. Roy, "Control of Two-link 2-DOF Robot Manipulator Using Fuzzy Logic Techniques: A Review," in Fourth International Conference on Soft Computing for Problem Solving, Warsaw, 2014. [13] Z. Liu, C. Chen, Y. Zhang and C. L. Chen, "Adaptive Neural Control for Dual-Arm Coordination of Humanoid Robot With Unknown Nonlinearities in Output Mechanism," IEEE Transactions on Cybernetics, vol. 45, no. 3, pp. 507-518, 2014. [14] F. Piltan, A. Nabaee, M. Ebrahimi and M. Bazregar, "Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties," International Journal of Information Technology and Computer Science, vol. 5, no. 8, pp. 123-135, 2013. [15] R. Koker, "A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization," Information Sciences, vol. 222, no. 10, pp. 528-543, 2013. [16] A. Eleren, "İMKB' ye Kayıtlı Çimento İşletmelerinin Finansal Tablolarının Bulanık Mantık Yaklaşımı ile Değerlendirilmesi," Afyon Kocatepe Üniversitesi, İ.İ.B.F. Dergisi, vol. 9, no. 1, pp. 141-153, 2007. [17] H.-T. Kang and C. J. Yoon, "Neural Network Approaches to Aid Simple Truss Design Problems," Computer-Aided Civil and Infrastructure Engineering, vol. 9, no. 3, pp. 211-218, 1994. [18] M. Fırat and M. Güngör, "Askı Madde Konsantrasyonu ve Miktarının Yapay Sinir Ağları ile Belirlenmesi," IMO Teknik Dergi, vol. 15, no. 73, pp. 3267-3282, 2015. [19] Y. K. Demir, Yapay Sinir Ağları ile Ulaştırma Taleplerinin Modellenmesi, İstanbul: İTÜ Fen Bilimleri Enstitüsü, Yüksek Lisans Tezi, 1997.
Yıl 2017,
Cilt: 5 Sayı: 4, 223 - 233, 22.12.2017
Öz
The
robotic arms are used in many industrial applications at the present time. At
this point, high precision control is required for robotics used in fields such
as healthcare area. Therefore, the control method applied to robots is also
important. In this study, a force was applied to the end function of a three
degree-of-freedom robot and the robustness of the controllers are tested. PID
and Fuzzy Logic control method are used for this process. The control process
of robotic arm which is designed and simulated is obtained by using Fuzzy Logic
and classical PID controllers and the results are presented comparatively
Anahtar Kelimeler
Kaynakça
- [1] S. Yumurtacı and T. Mert, "Robotik Kaynak Sistemleri ve Gelişme İstikametleri," Mühendis ve Makine, vol. 44, no. 526, pp. 32-40, 2003. [2] B. V. Chapnik, G. R. Heppler and J. D. Aplevich, "Modeling Impact on A One-Link Flexible Robotic Arm," IEEE Transactions on Robotics and Automation, vol. 7, no. 4, pp. 479-488, 1991. [3] M. Ö. Efe, "Fractional Fuzzy Adaptive Sliding-Mode Control of a 2-DOF Direct-Drive Robot Arm," IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 38, no. 6, pp. 1561-1570, 2008. [4] M. Okada and Y. Nakamura, "Development of A Cybernetic Shoulder-A 3-Dof Mechanism that Imitates Biological Shoulder Motion," IEEE Transactions on Robotics, vol. 21, no. 3, pp. 438-444, 2005. [5] F. Gao, W. Li, X. Zhao, Z. Jin and H. Zhao, "New Kinematic Structures for 2-, 3-, 4-, and 5-DOF Parallel Manipulator Designs," Mechanism and Machine Theory, vol. 37, no. 11, pp. 1395-1411, 2002. [6] A. T. Hasan, A. S. Hamouda, N. Ismail and H. A. Al-Assadi, "An Adaptive-Learning Algorithm to Solve The Inverse Kinematics Problem of A 6 D.O.F Serial Robot Manipulator," Advances in Engineering Software, vol. 37, no. 7, pp. 432-438, 2006. [7] M. A. Mohammed, L. Hui, S. Norbert and T. Kerstin, "Multiple Lab Ware Manipulation in Life Science Laboratories using Mobile Robots," in 17th International Conference on Mechatronics-Mechatronika (ME), Prague, 2016. [8] M. Mihelj, T. Nef and R. Riener, "ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics," in IEEE International Conference on Robotics and Automation, Roma, 2007. [9] G. Yang, W. Lin, M. S. Kurbanhusen, C. B. Pham and S. H. Yeo, "Kinematic Design of A 7-DOF Cable-Driven Humanoid Arm: A Solution-in-Nature Approach," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, 2005. [10] S. K. Mustafa, G. Yang, S. H. Yeo, W. Lin and I. M. Chen, "Self-Calibration of a Biologically Inspired 7 DOF Cable-Driven Robotic Arm," in EEE/ASME Transactions on Mechatronics, 2008. [11] J. Cronin, J. M. Escano, S. Roshany-Yamchi and N. Canty, "Fuzzy-Based Generalized Predictive Control of a Robotic Arm," in 25th IET Irish Signals & Systems Conference, 2014. [12] K. Lochan and B. K. Roy, "Control of Two-link 2-DOF Robot Manipulator Using Fuzzy Logic Techniques: A Review," in Fourth International Conference on Soft Computing for Problem Solving, Warsaw, 2014. [13] Z. Liu, C. Chen, Y. Zhang and C. L. Chen, "Adaptive Neural Control for Dual-Arm Coordination of Humanoid Robot With Unknown Nonlinearities in Output Mechanism," IEEE Transactions on Cybernetics, vol. 45, no. 3, pp. 507-518, 2014. [14] F. Piltan, A. Nabaee, M. Ebrahimi and M. Bazregar, "Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties," International Journal of Information Technology and Computer Science, vol. 5, no. 8, pp. 123-135, 2013. [15] R. Koker, "A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization," Information Sciences, vol. 222, no. 10, pp. 528-543, 2013. [16] A. Eleren, "İMKB' ye Kayıtlı Çimento İşletmelerinin Finansal Tablolarının Bulanık Mantık Yaklaşımı ile Değerlendirilmesi," Afyon Kocatepe Üniversitesi, İ.İ.B.F. Dergisi, vol. 9, no. 1, pp. 141-153, 2007. [17] H.-T. Kang and C. J. Yoon, "Neural Network Approaches to Aid Simple Truss Design Problems," Computer-Aided Civil and Infrastructure Engineering, vol. 9, no. 3, pp. 211-218, 1994. [18] M. Fırat and M. Güngör, "Askı Madde Konsantrasyonu ve Miktarının Yapay Sinir Ağları ile Belirlenmesi," IMO Teknik Dergi, vol. 15, no. 73, pp. 3267-3282, 2015. [19] Y. K. Demir, Yapay Sinir Ağları ile Ulaştırma Taleplerinin Modellenmesi, İstanbul: İTÜ Fen Bilimleri Enstitüsü, Yüksek Lisans Tezi, 1997.
Toplam 1 adet kaynakça vardır.
Ayrıntılar
| Birincil Dil | İngilizce |
|---|---|
| Konular | Mühendislik |
| Bölüm | Makaleler |
| Yazarlar | |
| Yayımlanma Tarihi | 22 Aralık 2017 |
| Gönderilme Tarihi | 25 Eylül 2017 |
| Yayımlandığı Sayı | Yıl 2017 Cilt: 5 Sayı: 4 |
