Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Conference Object Redundancy resolution options for the twin-it-romans robotic hybrid manufacturing system(Springer Science and Business Media B.V., 2025) Gündüz, G.M.; Dede, Mehmet İsmet Can; Kiper, Gökhan; Schmitz, M.; Corves, B.The Twinnig Iztech in Robotics Manufacturing System (TWIN-IT-ROMANS) project funded by EU Horizon -Widera-2023-Access-02-01 aims to develop a hybrid manufacturing system that can perform additive and subtractive manufacturing processes and inline quality control using a robotic system. The system will incorporate a 6-degree-of-freedom robot arm and a positioner with 2-degree-of-freedom, which will operate synchronously. This manipulation system is to be designed for performing different manufacturing operations with different degrees-of-freedom requirements. In order to reveal alternative trajectory planning scenarios for this system, this paper presents an initial review of redundancy resolution approaches for kinematically redundant robotic manipulators. First, the four main approaches for redundancy resolution techniques are introduced. Then main studies on energy minimization and stiffness maximization for kinematically redundant robotic manipulators are reviewed. Similar or new approaches are planned to be generated and implemented for the redundant system for hybrid manufacturing. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.Conference Object Towards Sustainable Manufacturing: a Review and Future Directions in Additive Manufacturing of Fiber-Reinforced Polymer Composites(Springer Science and Business Media B.V., 2025) Türkcan, M.Y.; Tetik, Halil; Kurt, B.; Dede, Mehmet İsmet Can; Karaş, B.; Tetik, H.; Shokrani, A.; Dede, M.İ.C.The United Nations Sustainable Development Goals (SDGs) provide a global framework for addressing critical challenges such as climate change, resource scarcity and sustainable industrialization. With increasing demand for products and improving quality of life, linear consumption of materials and resources following the “take-make-waste” is no longer possible. As such, innovative solutions are increasingly necessary to enable circular economy in manufacturing. Additive manufacturing (AM) has emerged as a transformative technology in achieving SDGs by enhancing resource efficiency and minimizing waste. Fiber reinforced composites are a promising application of AM, as they offer the potential to optimize material use, reduce labor and support sustainable production practices. However, there is an urgent need for considering circular economy strategies, life cycle assessment (LCA) frameworks and effective recycling at the end of their lifetime. This study examines additive manufacturing systems for fiber-reinforced composites, their environmental impact and exploring the potential contributions of robotic integration in composite manufacturing to enhanced sustainability. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.Article Citation - WoS: 5Citation - Scopus: 5A Continuously Variable Transmission-Based Variable Stiffness Actuator for Phri: Design Optimization and Performance Verification(American Society of Mechanical Engineers, 2024) Mobedi, Emir; Dede, Mehmet İsmet CanPhysical human–robot interfaces (pHRIs) enabled the robots to work alongside the human workers complying with the regulations set for physical human–robot interaction systems. A variety of actuation systems named variable stiffness/impedance actuators (VSAs) are configured to be used in these systems’ design. Recently, we introduced a new continuously variable transmission (CVT) mechanism as an alternative solution in configuring VSAs for pHRI. The optimization of this CVT has significant importance to enhance its application area and to detect the limitations of the system. Thus, in this paper, we present a design optimization approach (an adjustment strategy) for this system based on the design goals, desired force, and minimization of the size of the system. To implement such design goals, the static force analysis of the CVT is performed and validated. Furthermore, the fabrication of the optimized prototype is presented, and the experimental verification is performed considering the requirements of VSAs: independent position and stiffness variation, and shock absorbing. Finally, the system is calibrated to display 6 N continuous output force throughout its transmission variation range. © 2024 by ASME.Article Citation - WoS: 2Citation - Scopus: 4A Study on a Computationally Efficient Controller Design for a Surgical Robotic System(Springer, 2023) Ayit, Orhan; Dede, Mehmet İsmet 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. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.Article Citation - WoS: 10Citation - Scopus: 10Stiffness Modeling of a 2-Dof Over-Constrained Planar Parallel Mechanism(Elsevier, 2023) Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Kiper, GökhanStiffness model acquisition of over-constrained parallel mechanisms is relatively difficult since they have more than necessary kinematic loops. In this study, a stiffness modeling solution for over-constrained parallel mechanisms is proposed while considering the computational cost efficiency. Three contributions of the paper are: (1) Presenting the stiffness modeling procedure for serially connected closed-loop structures by using the Virtual Joint Method (2) Considering the effect of dynamic auxiliary forces and dynamic external forces on the mobile platform's deflection and achieving a direct solution by using superposition principle (3) A model fitting procedure for modifying the stiffness coefficients to comply with the experimental data. A 2 degrees-of-freedom over-constrained parallel mechanism is investigated as a case study. However, the proposed stiffness model is 6-DoF since compliant deflections occur in any direction. A finite element analysis and an experimental study verify the model's results.Article Citation - WoS: 2Citation - Scopus: 3Model-Based Detection and Isolation of the Wheel Slippage and Actuator Faults of a Holonomic Mobile Robot(Emerald Group Publishing, 2022) Şahin, Osman Nuri; Dede, Mehmet İsmet CanPurpose: Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed completely. In the active fault tolerant control methods, it is very important not only to detect the faults that occur in the robot, but also to isolate these faults to develop a fault recovery strategy that is suitable for that specific type of fault. This study aims to develop a model-based fault detection and isolation method for wheel slippage and motor performance degradation that may occur in wheeled mobile robots. Design/methodology/approach: In the proposed method, wheel speeds can be estimated via the dynamic model of the mobile robot, which includes a friction model between the wheel and the ground. Four residual signals are obtained from the differences between the estimated states and the measured states of the mobile robot. Mobile robot’s faults are detected by using these signals. Also, two different residual signals are generated from the calculation of the traction forces with two different procedures. These six residual signals are then used to isolate possible wheel slippage and performance degradation in a motor. Findings: The proposed method for diagnosing wheel slip and performance degradation in motors are tested by moving the robot in various directions. According to the data obtained from the test results, a logic table is created to isolate these two faults from each other. Thanks to the created logic table, slippage in any wheel and performance degradation in any motor can be detected and isolated. Originality/value: Two different recovery strategies are needed to recover temporary wheel slippage and permanent motor faults. Therefore, it is important to isolate these two faults that create similar symptoms in robot’s general movement. Thanks to the method proposed in this study, it is not only possible to isolate the slipping wheel with respect to the non-slipping wheels or to isolate the faulty motor from the non-faulty ones, but also to isolate these two different fault types from each other.Article Citation - WoS: 10Citation - Scopus: 12A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique(MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, LeventRedundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.Conference Object Citation - Scopus: 2Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism(Springer, 2022) Paksoy, Erkan; Dede, Mehmet İsmet Can; Kiper, GökhanIf the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.Article Citation - WoS: 7Citation - Scopus: 7Gravity Compensation of a 2r1t Mechanism With Remote Center of Motion for Minimally Invasive Transnasal Surgery Applications [article](Cambridge University Press, 2023) Aldanmaz, Ataol Behram; Ayit, Orhan; Kiper, Gökhan; Dede, Mehmet İsmet CanThis work addresses the gravity balancing of a 2R1T (2 rotations – 1 translation) mechanism with remote center of motion. A previously developed balancing solution is modified and applied to a prototype and test results are presented. The mechanism is an endoscope holder for minimally invasive transnasal pituitary gland surgery. In this surgery, the endoscope is inserted through a nostril of the patient through a natural path to the pituitary gland. During the surgery, it is vital for the manipulator to be statically balanced so that in case of a motor failure, the patient is protected against any harmful motion of the endoscope. Additionally, static balancing takes the gravitational load from the actuators and hence facilitates the control of the mechanism. The mechanism is a 2URRR-URR type parallel manipulator with three legs. The payload mass is distributed to the legs on the sides. By using counter-masses for two links of each leg, the center of mass of each leg is lumped on the proximal link which simplifies the problem to balancing of a two degree-of-freedom inverted pendulum. The two proximal links with the lumped mass are statically balanced via springs. Dynamic simulations indicate that when the mechanism is statically balanced, generated actuator torques are reduced by 93.5%. Finally, the balancing solution is implemented on the prototype of the manipulator. The tests indicate that the manipulator is statically balanced within its task space when the actuators are disconnected. When the actuators are connected, the torque requirements decrease by about 37.8% with balancing.Conference Object Digital Twin of a Servo Driver of a Servo Motor as a First Step Towards a Digital Twin of a Robot Mechanism(Springer, 2022) Küçükoğlu, Sefa Furkan; Carbone, Giuseppe; Dede, Mehmet İsmet CanDigital Twin (DT) offers us to acquire actual system’s critical information and hence, it may be possible to develop and produce more suitable systems in terms of low energy consumption and effectiveness. In this way, responsible consumption and production systems can be designed and the system’s parameters can be tuned via DT. In this study, the model of a servomotor system that is used for industrial purposes is experimentally obtained. This study consists of two steps. In the first step, within the embedded control of the system, position and velocity control loops are deactivated. Then through the servo driver, currents with sinusoidal waveforms at various frequencies are applied to the servomotor. The resultant angular velocity of the motor is monitored and recorded. The amplitude of the current is kept constant during this study. The frequency of the current, however, is increased logarithmically. By using these data, a first-order transfer function (TF) is identified for the motor model. In the second step, all control loops are activated. Consequently, the total servomotor system could be represented in a digital environment. Furthermore, the static friction issue is overcome by using a Coulomb friction model with stiction effect. Finally, several experiments are conducted and then results are compared with the digital model of the servomotor system. The results clearly show that digital model can fairly represent the physical system.