5-BAR PARALEL ROBOT MANİPÜLATÖRÜNÜN KUVVET BAZLI EMPEDANS KONTROLÜ

Öz

Robotların çevre ile etkileşimleri birçok sektörde yaygınlaşarak artmaktadır. Özellikle Pozisyon ve kuvvete bağlı etkileşimler hassas uygulamalarda sıkılıkla kullanılmaktadır. Bu etkileşim kontrolünde empedans kontrolü ihtiyacı karşılamaktadır. Paralel robot manipülatörü ise bu alanda yaygın kullanılan ve birçok robot tasarımının temel örneklerini oluşturan modellerden biridir. Bu çalışmada örnek bir 5 uzuvlu robot manipülatörü tasarlanmıştır. Bu manipülatörün üzerinde uygulan kuvvet miktarına göre pozisyon değişimi empedans kontrolü ile yapılmıştır. Kuvvet miktarı ölçümü yük hücresi kullanılarak gerçekleştirilmiştir. Pozisyon değişimi ise manipülatörün ileri kinematik hesaplamaları ile hesaplanmıştır. Bu hesaplamalar ve kontrol işlemi gerçek zamanlı olarak Arduino Mega gömülü sistem kartı üzerinde yapılmıştır. Bu uygulama çalışması ile empedans kontrolünü etkileyen sertlik ve sönümleme katsayılarına göre robot manipülatörünün davranış analizi incelenmiş ve tasarlanan manipülatör için ideal katsayılar belirlenmiştir.

Anahtar Kelimeler

• Empedans kontrolü
• Paralel robot manipülatör
• Sönümleme-Sertlik analizİ
• Robot etkileşimi

FORCE BASED IMPEDANCE CONTROL OF 5-BAR PARALLEL ROBOT MANIPULATOR

Öz

The interaction of robots with the environment is increasing in many sectors. In particular, position and force-dependent interactions are frequently used in sensitive applications. In this interaction control, impedance control method answer the need. The parallel robot manipulator is one of the models that is widely used in this field and constitutes the basic of many robot designs. In this study, an exemplary 5-limb robot manipulator is designed. Position change according to the amount of load applied on this manipulator was realized with impedance control. Force amount measurement was applied using loadcell. The position change was calculated with the forward kinematic calculations of the manipulator. This calculation and control process was realized on the Arduino Mega embedded system board. With this experiment application study, the behaviour analysis of the robot manipulator was examined according to the stiffness and damping coefficients that affect the impedance control, and the ideal coefficients for the designed manipulator were determined.

Anahtar Kelimeler

• Impedance control
• Parallel robot
• Damping-Stiffness analysis
• Robot interaction

Kaynakça

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