Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Conference Object Citation - Scopus: 11Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications(Springer Verlag, 2018) Yaşır, Abdullah; Kiper, GökhanAssistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should have a remote center of motion. This study presents the structural synthesis of a non-parasitic 3-dof manipulator with 2R1T motion pattern to be used as a remote center of motion mechanism for minimally invasive surgery applications. The manipulators of various kinematic structure are evaluated considering criteria such as possibility of construction of the mechanism for remote center of motion, ease of dynamic balancing, number of links, structural symmetry, the number of actuators connected to the base and decoupling of the joint inputs and the output motion of the platform.Conference Object Citation - WoS: 6Citation - Scopus: 3A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator(Springer Verlag, 2018) Tetik, Halil; Kiper, GökhanIdentifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.Conference Object Citation - WoS: 3Citation - Scopus: 4Neural Network Based Repetitive Learning Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2017) Çobanoğlu, Necati; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanControl of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a model free repetitive learning controller design is aimed. To reduce the heavy control effort, a neural network based compensation term is fused with the repetitive learning controller. The convergence of the tracking error to the origin is ensured via Lyapunov based techniques. Numerical simulations and experiments are performed to demonstrate the viability of the proposed controller.Article Citation - WoS: 6Citation - Scopus: 7On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation(Springer Verlag, 2017) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, EnverThe problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.Conference Object Citation - WoS: 2Citation - Scopus: 3On Null-Space Control of Kinematically Redundant Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2016) Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring the main objective. The stability of the main (end-effector tracking) and sub-task objectives are obtained via Lyapunov based arguments. Extension to adaptive controller formulation for robotic devices with uncertain system dynamics is also presented. Numerical studies for the adaptive controller are presented to illustrate the liability of the proposed method.Article Citation - WoS: 6Citation - Scopus: 8A Model Independent Observer Based Output Feedback Tracking Controller for Robotic Manipulators With Dynamical Uncertainties(Cambridge University Press, 2017) Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Kaleli, EgemenIn this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer - controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.Conference Object Citation - WoS: 6Citation - Scopus: 7Lyapunov-Based Output Feedback Learning Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2015) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, KamilThis paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learning-based feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method. © 2015 American Automatic Control Council.Conference Object Citation - WoS: 16Citation - Scopus: 18Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master(Institute of Electrical and Electronics Engineers Inc., 2012) Kapadia, Apoorva D.; Walker, Ian D.; Tatlıcıoğlu, EnverIn this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask. © 2012 IEEE.Article Citation - WoS: 6Citation - Scopus: 8Structural Design of Parallel Manipulators With General Constraint One(Elsevier Ltd., 2010) Alizade, Rasim; Selvi, Özgün; Gezgin, ErkinIn this paper structural design of parallel manipulators with general constraint one regarding angular and linear-angular conditions are considered. Four known overconstrained mechanisms with angular and two new designs with linear-angular conditions are presented. 14 structural groups and end effector chains in subspace λ = 5 are examined. New formulations and definitions of constructing overconstrained manipulators are described. Using examined structural groups, all architectures of subspace λ = 5 parallel manipulators with revolute joints and single-loop are introduced via structural bonding.Article Citation - WoS: 39Citation - Scopus: 42Structural Synthesis of Serial Platform Manipulators(Elsevier Ltd., 2007) Alizade, Rasim; Bayram, Çağdaş; Gezgin, ErkinIn this paper, structural synthesis of serial platform manipulators is considered. Serial platform manipulators are created according to the development of the platforms and closed loops. Also a new structural formula of mobility of parallel Cartesian platform robot manipulators is presented. Structural synthesis of serial platform manipulators with lower and higher kinematic pairs with respect to their structures are also examined. Structural synthesis of parallel Cartesian platform robot manipulators is also introduced. History of structural formulas DOF are presented as a table with equations, authors, years and some commentaries. New and revised methods for structural synthesis of serial platform manipulators and parallel Cartesian platform robot manipulators are illustrated along with examples.