Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 1Citation - Scopus: 1Torque-Current Relationship of an Mr Brake for Its Open-Loop Control(Ieee-inst Electrical Electronics Engineers inc, 2024) Kucukoglu, Sefa Furkan; Bozelli, Muhammed Rza; Dede, Mehmet Ismet CanActive and semiactive actuators have been widely preferred for designing an actuation system for kinesthetic-type haptic devices. Among them, magnetorheological fluid-based brakes (MR brakes) offer potent properties, such as high torque/inertia ratio and less power consumption. However, one of the most critical issues to be resolved is their hysteresis behavior. Various methods for modeling the input/output relationship with hysteresis behavior exist. However, hysteresis compensation approaches, i.e., torque-current hysteresis model, are not widely studied for MR Brakes. Therefore, a hysteresis compensation model approach to account for the nonlinear behavior of MR Brake is proposed, and the model is experimentally validated in this article. The model consists of multiple splines and an algorithm that uses these splines in hysteresis compensation. Being relatively simple and easily implementable are the distinguished features of the presented model since an optimization method is not required. Furthermore, the performance of the proposed method is compared with two methods, torque-to-current mapping and inverse Prandtl-Ishlinskii method. The obtained experimental results are investigated with three performance metrics. Finally, the effect of the operational speed on the performance of the hysteresis compensation model is also discussed.Article Citation - WoS: 2Citation - Scopus: 4A Study on a Computationally Efficient Controller Design for a Surgical Robotic System(Springernature, 2023) Ayit, Orhan; Dede, Mehmet Ismet CanThe control algorithms of the surgical robotic system using the robot's dynamics produce a relatively high computational load on the processor. This paper develops a computationally efficient computed torque controller by using a simplified dynamic modeling method and implemented in a novel surgical robot experimentally. In addition, an independent joint controller is designed and implemented to compare the results of the computed torque controller.Book Part Citation - WoS: 1Citation - Scopus: 1Calibration Study of a Continuously Variable Transmission System Designed for Phri(Springer, 2020) Mobedi, Emir; Dede, Mehmet Ismet CanVariable stiffness actuators (VSAs) have been used in many applications of physical human-robot interfaces (pHRI). A commonly employed design is the spring-based VSA allowing the user to regulate the output force mechanically. The main design criteria of these actuation systems are the adjustment of output force independent from the output motion, and shock absorbing. In our recent work, we implemented certain modifications on the two-cone friction drive continuously variable transmission system (CVT) so that the CVT can be employed in pHRI systems. Subsequently, the optimized prototype is developed. In this study, we introduce the prototype of this new CVT systems, and its force calibration tests. The results indicate that the manufactured CVT is capable of displaying the desired output force throughout its transmission ratio range within a tolerance.Conference Object Citation - WoS: 1Citation - Scopus: 1Alternating Error Effects on Decomposition Method in Function Generation Synthesis(Springer Verlag, 2017) Maaroof, Omar W.; Dede, Mehmet Ismet Can; Kiper, GokhanIn approximate function generation synthesis methods, error between the desired function's output and designed mechanism's output oscillate about zero error while crossing the zero error margin at precision points. The common goal of these methods is to minimize the error within the selected working region of the mechanism. For mechanisms like Bennett overconstrained six-revolute jointed linkages that have relatively large number of construction parameters, it is a difficult task to solve for them at once. Decomposition method enables to divide such linkages into two loops and independently solve for each loop with less construction parameters. Although some approximation methods are proven to produce smaller errors than others for a single-loop synthesis, in this work, it is shown that smaller errors are not guaranteed for a certain method when used along with decomposition method. Numerical examples indicate that in decomposition method, more attention should be given to the alternation of the error of each decomposed mechanism, rather than the approximation method used.