5 serbestlik dereceli (SD) seri robot manipülatörü tasarımı, uygulaması ve analitik yöntem ve basit arama tekniği yoluyla ters kinematik çözümü

Yıl 2020, Cilt: 26 Sayı: 2, 392 - 401, 07.04.2020

Sabri Uzuner , Nihat Akkuş , Metin Toz

Öz

Bu çalışmada, beş serbestlik derecesine (SD) sahip bir seri robot manipülatörü tasarlanmış ve test edilmiştir. Robot mekanizmasının kesin analitik çözümü (üç boyutlu uzayda önceden tanımlanmış bir uç işlevcisi konumu için yalnızca bir ters kinematik çözümü) olmayan ters kinematik problemi, analitik yöntem ve bir basit arama metodu kombinasyonu kullanılarak çözülmüştür. Önerilen yöntem, gerçek zamanlı kullanılabilmesi için mekanizma çalışırken uç işlevcinin gideceği bir sonraki nokta için çözüm yapılabilecek şekilde tasarlanmıştır. Gerçekleştirilen mekanizmayı kontrol etmek için Visual Basic programlama dili kullanılarak bir kullanıcı arayüzü programı yazılmıştır. Son olarak, önerilen ters kinematik çözüm yöntemi 58 noktadan oluşan yay şeklinde bir yörünge ve 29 noktaya bölünmüş doğrusal bir yörünge olmak üzere iki farklı yörüngede test edilmiştir. Elde edilen sonuçlar, önerilen yöntemin tasarlanan mekanizmanın ters kinematik problemini çözmede başarıyla kullanılabileceğini ortaya koymuştur.

Anahtar Kelimeler

5 SD seri robot, Ters kinematik, İleri kinematik, Basit arama algoritması, Robotik kol

5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique

Öz

In this study a five Degrees of Freedom (DOF) serial robot manipulator was designed and implemented. The inverse kinematics problem, which has not exact analytical solution (only one inverse kinematic solution for a predefined end effector position in three dimensional space), of the robot mechanism was solved by using the combination of the analytical method and a simple search method. In order to use the proposed method in real-time applications, the method is designed so that it can be used to solve the inverse kinematics problem for the next point of the end-effector while the mechanism is working. Moreover, so that to control the implemented mechanism, a user interface program was written by using Visual Basic programming language. Finally, the proposed inverse kinematic solution method was tested on two different trajectories, an arc shaped trajectory that composed of 58 points and a linear trajectory divided into 29 points. The obtained results revealed that the proposed method can be used successfully in solving the inverse kinematic problem of the designed mechanism.

Anahtar Kelimeler

5 DOF Serial robot, Inverse kinematic, Forward kinematic, Simple search algorithm, Robotic arm

Kaynakça

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