Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object On the Formulation of Parallel Position/Force Control Schemes for Industrial Manipulators(Shaker Verlag, 2012) Dede, Mehmet İsmet Can; Özgören, M. KemalIn this paper, three commonly-used position/force control schemes namely Impedance, Admittance and Hybrid Position/Force control are investigated for use in industrial manipulators. In order to eliminate the instability problem that may occur in the customary versions of these schemes for large position errors, a modification is proposed, which is based on determining the joint-space position errors using inverse kinematic solutions rather than using the inverse Jacobian matrix. The feasibility of this modification relies on the fact that almost all of the industrial manipulators have easily obtainable inverse kinematic solutions. The simulation results showing the performance of the modified control schemes are also presented as applied on a Puma 560 manipulator.Article Citation - WoS: 4Citation - Scopus: 4Extending Model-Mediation Method To Multi-Degree Teleoperation Systems Experiencing Time Delays in Communication(Cambridge University Press, 2017) Uzunoğlu, Emre; Dede, Mehmet İsmet CanSUMMARY In this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.