Haptik-Teleoperasyon Sistemleri için PID ve SMC Kontrol Yöntemlerinin Tasarımı ve Bilgisayar Simülasyonu

Öz

Haptik-Teleoperasyon sistemleri, insan-robot etkileşiminde kullanılan sistemlerden biridir. Bu sistemlerin temel hedefi iki yönlü kesintisiz etkileşimdir. Bu hedef ancak sorunsuz çalışan iki yönlü kontrol ile mümkündür. Bu çalışmada sistemin kendinden veya çevreden kaynaklanacak tüm belirsizliklerin üstesinden gelmesi için PID ve Kayan Kipli Kontrol(Sliding Mode Control-SMC) yöntemleri tasarlanmış ve simülasyonu gerçekleştirilmiştir. Öncelikle sistemin hareket denklemleri elde edilmiştir. SMC yönteminde kullanılan signum işaret fonksiyonu çatırmada probleminde neden olduğu bilindiğinden çatırdama probleminin de giderilmesi için saturasyon fonksiyonu önerilmiş ve uygulanmıştır. Sonuç olarak haptik-teleoperasyon sistemleri için iki yönlü kontrol benzetim ortamında gerçekleştirilmiş, sonuçlar grafikler ve tablolar halinde verilmiştir. Performans kriterleri (RMSE ve MAE) kullanılarak sonuçlar karşılaştırılmış ve irdelenmiştir.

Anahtar Kelimeler

• İnsan-Robot Etkileşimi
• , Haptik-Teleoperasyon Sistemleri
• Kayan Kipli Kontrol (SMC)

Kaynakça

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