Öz
In the presented study; work has been done for a robotic hand system
controlled by the user. In order to ensure the object grip force sensitivity of
the system focused on control problem of clutch force. In addition, a haptic
feedback system is provided for feedback to the user of the force applied to
the object. Fuzzy logic is proposed and implemented for controlling the force
exerted by the robot hand on objects in accordance with the user command. The
user can send different griping commands to the fuzzy logic control system such
as grasp, drop and tight grasp. The fuzzy logic controller
controls the force applied to the objects in according to the user command.
In addition, the data from the force
sensor are evaluated by fuzzy logic controller. As a result of the evaluation,
the vibration intensity of the vibration motors in the haptic feedback system
is adjusted. Thus, the user can
feel the grasping force of the objects. Besides, the robot hand has been grasping the objects in the appropriate
force range according to the user command. The created system is provides a
solution to the problem of force control and lack of haptic feedback in robot
hand applications.
Anahtar Kelimeler
Haptic feedback Force control Robot hand Haptic system Fuzzy logic
Kaynakça
- Acar, O., Kalyoncu, M., Hassan, A., 2019, “The Bees’algorithm For Design Optimization of A Gripper Mechanism”, Selçuk-Teknik Dergisi, 69-86.
- Antfolk, C., D'Alonzo, M., Controzzi, M., Lundborg, G., Rosén, B., Sebelius, F. And Cipriani, C., 2013, “Artificial redirection of sensation from prosthetic fingers to the phantom hand map on transradial amputees: vibrotactile versus mechanotactile sensory feedback”, IEEE transactions on neural systems and rehabilitation engineering, Cilt 21, Sayı 1, ss. 112-120.
- Bekey, G. A., Tomovic, R., Zeljkovic, I., 1990, “Control architecture for the Belgrade/USC hand”, Dextrous robot hands, Springer, New York, NY, ss. 136-149.
- Berselli, G., Borghesan, G., Brandi, M., Melchiorri, C., Natale, C., Palli, G., Vassura, G., 2009, ”Integrated mechatronic design for a new generation of robotic hands”, IFAC Proceedings Volumes, Cilt 42, Sayı 16, ss. 8-13.
- Brown, J. D., Paek, A., Syed, M., O'Malley, M. K., Shewokis, P. A., Contreras-Vidal, J. L., Gillespie, R. B.,” Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task”, 2013 World Haptics Conference (WHC), 2013 April, ss. 271-276, IEEE.
- Casini, S., Morvidoni, M., Bianchi, M., Catalano, M., Grioli, G., Bicchi, A., “Design and realization of the cuff-clenching upper-limb force feedback wearable device for distributed mechano-tactile stimulation of normal and tangential skin forces”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015 September, ss. 1186-1193, IEEE.
- Conker, Ç., Karaca, A., 2019,” Bulanık Mantık Esaslı Karar Destek Sistemi ile Robot Elin Kuvvet Kontrolünün Sağlanması”, Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi, Cilt 21, Sayı 62, ss. 433-447.
- Delgado, A., Jara, C. A., Torres, F., 2017, “In-hand recognition and manipulation of elastic objects using a servo-tactile control strategy”, Robotics and Computer-Integrated Manufacturing, 48, 102-112.
- Hajian, A., Styles, P., 2018, Application of Soft Computing and Intelligent Methods in Geophysics, Springer, Cham.
- Kalyoncu, M., Haydim, M., 2009,” Mathematical modelling and fuzzy logic based position control of an electrohydraulic servosystem with internal leakage” Mechatronics, Cilt 19, Sayı, 6, ss. 847-858.
- Karaca, A., Conker, Ç.,” Bulanık Kontrolör Esaslı Haptik Robotik El”, TOK2018 Otomatik Kontrol Ulusal Toplantısı, Kayseri, 12-14 Eylül 2018.
- Katibeha, F., Eghtesadb, M., Bazargan-Laric, Y., 2016, “Dynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers”, International Journal of Robotics, Cilt 4, No 4, ss. 51-61.
- Kuo, C. H., Chen, C. T., 2010, “Development of Tendon Based Dexterous Robot Hand”, Advances in Robot Manipulators, IntechOpen.
- Lin, L. R., Huang, H. P., 1996,” Integrating fuzzy control of the dexterous National Taiwan University (NTU) hand”, IEEE/ASME Transactions on Mechatronics, Cilt 1, Sayı 3, ss. 216-229.
- Michalec, R., 2011, Modeling and control of multifingered dextrous manipulation for humanoid robot hands, Université Pierre et Marie Curie-Paris VI, PhD Thesis, Paris.
- Pons, J. L., Rocon, E., Ceres, R., Reynaerts, D., Saro, B., Levin, S., Van Moorleghem, W., 2004, “The MANUS-HAND dextrous robotics upper limb prosthesis: mechanical and manipulation Aspects”, Autonomous Robots, Cilt 16, Sayı 2, ss. 143-163.
- Sartori, E., Fiorini, P. and Muradore, R., “Cutaneous feedback in teleoperated robotic hands”, In IECON 2016-42nd Annual Conference of the IEEE Industrial Electronics Society, Florence, October, 2016.
- Savić, S., Raković, M., Penčić, M., Nikolić, M., Dudić, S., Borovac, B., “Design of an Underactuated Adaptive Robotic Hand with Force Sensing”, In International Conference on Electrical, Electronic and Computing Engineering IcETRAN, Zlatibor, June 2016.
- Shen, J., Shen, W., Sun, H. J. and Yang, J. Y., 2000, “Fuzzy neural nets with non-symmetric π membership functions and applications in signal processing and image analysis”, Signal processing, Cilt 80, Sayı 6, ss. 965-983.
- Surajudeen-Bakinde, N. T., Faruk, N., Popoola, S. I., Salman, M. A., Oloyede, A. A., Olawoyin, L. A. and Calafate, C. T., 2018, ” Path loss predictions for multi-transmitter radio propagation in VHF bands using adaptive Neuro-Fuzzy inference system”, Engineering Science and Technology, an International Journal, Cilt 21, Sayı 4, ss. 679-691.
- Üstünel, H., 2014, Üstün Yetenekli Öğrencilerin Kullanımı İçin Sanal Gerçeklik Ortamında Kuvvet Geribeslemeli Haptik Uygulamaların Geliştirilmesi, Doktora Tezi, Trakya Üniversitesi, Fen Bilimleri Enstitüsü.
- Vulliez, P., Gazeau, J. P., Laguillaumie, P., Mnyusiwalla, H., Seguin, P., 2018, “Focus on the mechatronics design of a new dexterous robotic hand for inside hand Manipulation”, Robotica, Cilt 36, Sayı 8, ss. 1206-1224.
- Witteveen, H. J., Droog, E. A., Rietman, J. S., Veltink, P. H., 2012, “Vibro-and electrotactile user feedback on hand opening for myoelectric forearm prostheses”, IEEE transactions on biomedical engineering, Cilt 59, Sayı 8, ss.2219-2226.
- Yang, Y., Zhang, W., Xu, X., Hu, H., Hu, J.,” LIPSA hand: a novel underactuated hand with linearly parallel and self-adaptive grasp”, In Mechanism and Machine Science , 10th International Conference on Intelligent Robotics and Applications, 16-18 August 2017, Wuhan ,China, 739-751.
Öz
Sunulan çalışmada; kullanıcı tarafından kontrol
edilen bir robot el sistemi için çalışma yapılmıştır. Sistemin nesne kavrama
kuvveti hassasiyetinin sağlanması amacıyla kavrama kuvvetinin kontrol sorunu
üzerine durulmuştur. Bunun yanı sıra nesneye uygulanan kuvvetin kullanıcıya
geri bildirimi için haptik geri bildirim sistemi oluşturulmuştur. Robot elin
kullanıcı komutu doğrultusunda nesnelere uyguladığı kuvvetin kontrolünde,
bulanık mantık önerilmiş ve uygulanmıştır. Kullanıcı bulanık mantık kontrolcüye
tut, bırak, sık gibi farklı kavrama komutlarını gönderebilmektedir. Bulanık
mantık kontrolcü ise kullanıcı komutu doğrultusunda objeye uygulanan kuvveti
kontrol etmektedir. Ayrıca kuvvet sensöründen gelen veriler bulanık mantık
kontrolcü ile değerlendirilerek haptik geri bildirim sisteminde bulunan
titreşim motorlarının titreşim şiddeti ayarlanmaktadır. Böylelikle kullanıcı,
hem objeleri ne kadar kuvvetle sıktığını hissedebilmekte hem de sadece bir
kavrama komutu göndererek nesnenin uygun kuvvette kavranmasını
sağlayabilmektedir. Oluşturulan sistem objelerin kavranması esnasında oluşan
kavrama kuvvetinin kontrol sorunu ve his geri bildirim eksikliği sorunlarına
bir çözüm niteliğindedir.
Anahtar Kelimeler
His geri bildirimi Kuvvet kontrolü Robot el Haptik sistem Bulanık mantık
Kaynakça
- Acar, O., Kalyoncu, M., Hassan, A., 2019, “The Bees’algorithm For Design Optimization of A Gripper Mechanism”, Selçuk-Teknik Dergisi, 69-86.
- Antfolk, C., D'Alonzo, M., Controzzi, M., Lundborg, G., Rosén, B., Sebelius, F. And Cipriani, C., 2013, “Artificial redirection of sensation from prosthetic fingers to the phantom hand map on transradial amputees: vibrotactile versus mechanotactile sensory feedback”, IEEE transactions on neural systems and rehabilitation engineering, Cilt 21, Sayı 1, ss. 112-120.
- Bekey, G. A., Tomovic, R., Zeljkovic, I., 1990, “Control architecture for the Belgrade/USC hand”, Dextrous robot hands, Springer, New York, NY, ss. 136-149.
- Berselli, G., Borghesan, G., Brandi, M., Melchiorri, C., Natale, C., Palli, G., Vassura, G., 2009, ”Integrated mechatronic design for a new generation of robotic hands”, IFAC Proceedings Volumes, Cilt 42, Sayı 16, ss. 8-13.
- Brown, J. D., Paek, A., Syed, M., O'Malley, M. K., Shewokis, P. A., Contreras-Vidal, J. L., Gillespie, R. B.,” Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task”, 2013 World Haptics Conference (WHC), 2013 April, ss. 271-276, IEEE.
- Casini, S., Morvidoni, M., Bianchi, M., Catalano, M., Grioli, G., Bicchi, A., “Design and realization of the cuff-clenching upper-limb force feedback wearable device for distributed mechano-tactile stimulation of normal and tangential skin forces”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015 September, ss. 1186-1193, IEEE.
- Conker, Ç., Karaca, A., 2019,” Bulanık Mantık Esaslı Karar Destek Sistemi ile Robot Elin Kuvvet Kontrolünün Sağlanması”, Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi, Cilt 21, Sayı 62, ss. 433-447.
- Delgado, A., Jara, C. A., Torres, F., 2017, “In-hand recognition and manipulation of elastic objects using a servo-tactile control strategy”, Robotics and Computer-Integrated Manufacturing, 48, 102-112.
- Hajian, A., Styles, P., 2018, Application of Soft Computing and Intelligent Methods in Geophysics, Springer, Cham.
- Kalyoncu, M., Haydim, M., 2009,” Mathematical modelling and fuzzy logic based position control of an electrohydraulic servosystem with internal leakage” Mechatronics, Cilt 19, Sayı, 6, ss. 847-858.
- Karaca, A., Conker, Ç.,” Bulanık Kontrolör Esaslı Haptik Robotik El”, TOK2018 Otomatik Kontrol Ulusal Toplantısı, Kayseri, 12-14 Eylül 2018.
- Katibeha, F., Eghtesadb, M., Bazargan-Laric, Y., 2016, “Dynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers”, International Journal of Robotics, Cilt 4, No 4, ss. 51-61.
- Kuo, C. H., Chen, C. T., 2010, “Development of Tendon Based Dexterous Robot Hand”, Advances in Robot Manipulators, IntechOpen.
- Lin, L. R., Huang, H. P., 1996,” Integrating fuzzy control of the dexterous National Taiwan University (NTU) hand”, IEEE/ASME Transactions on Mechatronics, Cilt 1, Sayı 3, ss. 216-229.
- Michalec, R., 2011, Modeling and control of multifingered dextrous manipulation for humanoid robot hands, Université Pierre et Marie Curie-Paris VI, PhD Thesis, Paris.
- Pons, J. L., Rocon, E., Ceres, R., Reynaerts, D., Saro, B., Levin, S., Van Moorleghem, W., 2004, “The MANUS-HAND dextrous robotics upper limb prosthesis: mechanical and manipulation Aspects”, Autonomous Robots, Cilt 16, Sayı 2, ss. 143-163.
- Sartori, E., Fiorini, P. and Muradore, R., “Cutaneous feedback in teleoperated robotic hands”, In IECON 2016-42nd Annual Conference of the IEEE Industrial Electronics Society, Florence, October, 2016.
- Savić, S., Raković, M., Penčić, M., Nikolić, M., Dudić, S., Borovac, B., “Design of an Underactuated Adaptive Robotic Hand with Force Sensing”, In International Conference on Electrical, Electronic and Computing Engineering IcETRAN, Zlatibor, June 2016.
- Shen, J., Shen, W., Sun, H. J. and Yang, J. Y., 2000, “Fuzzy neural nets with non-symmetric π membership functions and applications in signal processing and image analysis”, Signal processing, Cilt 80, Sayı 6, ss. 965-983.
- Surajudeen-Bakinde, N. T., Faruk, N., Popoola, S. I., Salman, M. A., Oloyede, A. A., Olawoyin, L. A. and Calafate, C. T., 2018, ” Path loss predictions for multi-transmitter radio propagation in VHF bands using adaptive Neuro-Fuzzy inference system”, Engineering Science and Technology, an International Journal, Cilt 21, Sayı 4, ss. 679-691.
- Üstünel, H., 2014, Üstün Yetenekli Öğrencilerin Kullanımı İçin Sanal Gerçeklik Ortamında Kuvvet Geribeslemeli Haptik Uygulamaların Geliştirilmesi, Doktora Tezi, Trakya Üniversitesi, Fen Bilimleri Enstitüsü.
- Vulliez, P., Gazeau, J. P., Laguillaumie, P., Mnyusiwalla, H., Seguin, P., 2018, “Focus on the mechatronics design of a new dexterous robotic hand for inside hand Manipulation”, Robotica, Cilt 36, Sayı 8, ss. 1206-1224.
- Witteveen, H. J., Droog, E. A., Rietman, J. S., Veltink, P. H., 2012, “Vibro-and electrotactile user feedback on hand opening for myoelectric forearm prostheses”, IEEE transactions on biomedical engineering, Cilt 59, Sayı 8, ss.2219-2226.
- Yang, Y., Zhang, W., Xu, X., Hu, H., Hu, J.,” LIPSA hand: a novel underactuated hand with linearly parallel and self-adaptive grasp”, In Mechanism and Machine Science , 10th International Conference on Intelligent Robotics and Applications, 16-18 August 2017, Wuhan ,China, 739-751.
Ayrıntılar
| Birincil Dil | Türkçe |
|---|---|
| Konular | Mühendislik |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Yayımlanma Tarihi | 30 Aralık 2019 |
| Gönderilme Tarihi | 24 Eylül 2019 |
| Kabul Tarihi | 1 Kasım 2019 |
| Yayımlandığı Sayı | Yıl 2019 Cilt: 7 Özel Sayı |
