Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Author: search.filters.author.Dede, Mehmet Ismet CanDepartment: search.filters.department.Izmir Institute of Technology

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  • Article
    Citation - WoS: 2
    Citation - Scopus: 4
    A Study on a Computationally Efficient Controller Design for a Surgical Robotic System
    (Springernature, 2023) Ayit, Orhan; Ayit, Orhan; Dede, Mehmet Ismet Can; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    The 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.
  • Article
    Citation - WoS: 9
    Citation - Scopus: 10
    The Design and Kinematic Representation of a Soft Robot in a Simulation Environment
    (Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Emet, Hazal; Dede, Mehmet İsmet Can; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering
    The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.