Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
Browse
2 results
Search Results
Article Citation - WoS: 4Citation - Scopus: 5Toward Safe and High-Performance Human-Robot Collaboration Via Implementation of Redundancy and Understanding the Effects of Admittance Term Parameters(Cambridge University Press, 2022) Kanık, Mert; Ayit, Orhan; Dede, Mehmet İsmet Can; Tatlıcıoğlu, EnverSummary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.Conference Object Citation - WoS: 1Citation - Scopus: 2A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot(Springer international Publishing Ag, 2021) Ayit, Orhan; Dede, Mehmet Ismet CanExecution of model-based control algorithms such as computed torque technique requires the knowledge of the dynamic model of the robotic system. In our work, the active part of the surgical robot, NeuRoboScope, has a parallel kinematics architecture and the dynamic model is relatively complicated to run in a microprocessor with limited computing capabilities. For this reason, we formulated a simplified dynamic model to run in the selected microprocessor. In this work, a new formula for calculating the correction coefficients is described to minimize the errors in the whole orientation range of the robot's base platform. This new formula is examined in terms of execution time and the result is reported in this paper.