İki Eklemli Ve Ucunda Yük Bulunan Esnek Bir Robot Kolunun Modellenmesi

Yıl 1996, Cilt: 9 Sayı: 1, 13 - 23, 30.06.1996

Osman Parlaktuna , Serap Ön Neziha Öztürk

Öz

Bu çalışmada, çok eklemli ve ucunda yük bulunan esnek robot kollannm modellenmesi ele

alınmıştır. Sistemin toplam enerji ifadeleri elde edüüîkten sonra, "Hamütoman Prensibi

kuUamlarak sistemi tanımlayan dinamik denklemler ve sınır koşullanu elde edilmiştir. Elde edilen bu

çok karmaşık ve doğrusal olmayan denklemler kontrol tasarımında kuUamlabilır.

Anahtar Kelimeler

Esnek robot kolu, dogrusallaştırma

Modelling Of A Two-Link Flexible Manipulator With A Payload At Its Tip

Öz

in îhis sîudy, modeîling of mulii-link flexi'ble manipulators wıth payload at their

tîps is considered. Having obtained the folai energy terms ofîhe system, the dynamical equations and

the houndary condiîıom defimng the system are derived by using the "Hamiltoman Principle".

These non-linear and complex eyuafions can be used m a control design after linearizanon.

Anahtar Kelimeler

Flexible manipulalor, linearization

Kaynakça

• [1] Liang-Wey Chang ve J. F. Hamilton, "Dynamics of robotic manipulators »lüı flexible links", ASME Journaf ofDynamic Systems, Measurement and Conîrol, vol. 113, s. 54-59, March 1991, USA.
• [2] G. Cesareo ve R. Marino, "On the Controlîability Properties ofElastic Robots", Proc. 6th Int. Conf. Analysis Optimization Systems, FNRIA, Nice, Francc, 1984.
• [3] R. H. Cannon ve E. Schmitz, "Initial Expenment on the End-Point Control of a Flexible One-Link Robot", Tha ini. Joumal ofRobolics Research, vol. 3, no. 3, s. 62-75, 1984.
• [4] H. Krishnan ve M. Vidyasagar, "Controİ of a Single-Link Flexible Beam Using Hankel-norm-based Reduced Order Model", Proc. of the 5th IEEE im. Conf. on Robotics and Auiomaiion, s. 9-14, Philadelphıa, PA, Aprill988.
• [5] P. Kotnik, S. Yurkovich ve C. özgüner, "Acceleration Feedback tor Control of a Fleible Manipulator Arm'\ Journal ofRobotic Systems, vol. 5, no. 3, June 1988.
• [6] F. Khorrami ve U. Ozgüner, "Perturbatıon Methods İti Control of a Flexlble Link Manipulator", Proc. oflhe 5th Int. Conf. on Robotics and Automation. s. 3 10-315, Philadclphia, PA, April 1988,
• [7] Liang-Wey Chang ve J. F. Hamillon, "Dynamics ofRobolic Manipulators with Flexible Luıks", ASMEJournal of Dynamic Systems, Measuremenî and Controî, vol. 113, s, 54-59, March 1991, USA.
• [8] F. Khorramİ, "Analysis of MuIti-Lınk Flexible Manipulators via As^Tnptotic Expan-sions", Proceedmgs oflhe 28(h Conference on Decision anct Confrol, TL, s, 2089-2094, November 1989.
• [9] F. Khorrami, S. Jain ve A. Tzes, "Expcriments on Rigid Body-Based Controllers with Input Preshaping for a Two-Lmk Flexible Manipulator' \ IEEE Transaction on Robotîcs and Automation, vol. 10, no. l, February 1994.
• [10] H. Bedir, "iki Linkli Esnek Bir Robot Kolunun Modellenmesi", Elektrik Mühendisliği Uygulamasi, Osmangazi Universitesi Elekfrik-Elekîromk Müh. Bol., Ocak 1995, Eskişehir.