FIRÇASIZ DA MOTORLARI İLE SÜRÜLEN VE HEM DİNAMİK HEM DE KİNEMATİK MODEL BELİRSİZLİKLERİ İÇEREN ROBOT KOLLARININ UYARLAMALI DENETİMİ

Yıl 2023, Cilt: 31 Sayı: 3, 834 - 847, 16.12.2023

Şükrü Ünver , Erman Selim , Enver Tatlıcıoğlu , Erkan Zergeroğlu , Musa Alcı

https://doi.org/10.31796/ogummf.1264457

Öz

Çalışmamız kapsamında, eklemleri fırçasız doğru akım (DA) motorları kullanılarak sürülen ve hem dinamik hem de kinematik modelinde parametrik belirsizlikler içeren robot kolları için, eyleyici dinamikleri denetleyici tasarımına dahil edilerek uyarlamalı görev uzayı takip denetleyicisi tasarımı gerçekleştirilmiştir. Denetleyici tasarımının doğrudan görev uzayında gerçekleştirilmesi sayesinde pozisyon seviyesinde ters kinematiğin hesaplanmasına ihtiyaç duyulmamaktadır. Geliştirilen tam durum geri beslemeli ve ivme ölçümlerine ihtiyaç duymayan denetleyici yapısı için Lyapunov tabanlı kararlılık analizi gerçekleştirilmiştir. Kararlılık analizinin sonucuna göre robot kolunun hem dinamik hem de kinematik modelindeki parametrik belirsizliklere rağmen görev uzayı takip hatasının asimptotik kararlılığı ve denetleyici girişleri de dahil olmak üzere sistemde kullanılan tüm işaretlerin sınırlılığı garanti edilmiştir. Ek olarak önerilen yöntemin performansını ve uygulanabilirliğini göstermek amacıyla düzlemde çalışan, iki serbestlik dereceli ve eklemleri fırçasız DA motorları ile sürülen robot kolunun dinamik modeli kullanılarak benzetim çalışması gerçekleştirilmiştir.

Anahtar Kelimeler

Uyarlamalı denetim, Robot kolları, Görev uzayı, Doğrusal olmayan kontrol, Fırçasız DA motorları

Destekleyen Kurum

TUBUTAK-1001

Proje Numarası

121E383

Teşekkür

Bu çalışmada sunulan araştırmaya verdiği destekten ötürü Türkiye Bilimsel ve Teknolojik Araştırma Kurumu’na (TÜBİTAK) teşekkür ederiz (proje numarası: 121E383). Ayrıca Yazar 1, 2211-C programı kapsamında desteklendiği için TÜBİTAK’a ve YÖK 100/2000 projesi kapsamında desteklendiği için Yükseköğretim Kurulu’na teşekkür eder.

ADAPTIVE CONTROL OF ROBOT MANIPULATORS DRIVEN BY BRUSHLESS DC MOTORS WITH PARAMETRIC UNCERTAINTIES IN BOTH KINEMATIC AND DYNAMIC MODEL

Öz

In this study, an adaptive task-space tracking controller design was proposed for robot arms driven by BLDC motors with parametric uncertainties in their dynamic and kinematic models. The proposed controller design incorporates actuator dynamics for the robot arm and does not require inverse kinematics calculations at the position level due to its direct implementation in task space. Lyapunov-based stability analysis was conducted for the developed full-state feedback controller structure, which does not require acceleration measurements. The stability analysis results demonstrate that, despite the parametric uncertainties in both the dynamic and kinematic models of the robot arm, the proposed controller guarantees the asymptotic stability of the task-space tracking error, as well as the boundedness of all signals used in the system, including the controller inputs. To demonstrate the performance and applicability of the proposed method, a simulation study was conducted using the dynamic model of a two degree-of-freedom robot arm driven by brushless DC motors, working in a plane.

Anahtar Kelimeler

Adaptive control, Robotic manipulators, Task space, Nonlinear control, BLDC motors

Proje Numarası

121E383

Kaynakça

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