Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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

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Institution Author: search.filters.institutionAuthor.Uzunoğlu, EmrePublisher: search.filters.publisher.Cambridge University Press

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  • Article
    Citation - WoS: 9
    Citation - Scopus: 10
    A Multi-Priority Controller for Industrial Macro-Micro Manipulation
    (Cambridge University Press, 2021) Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can
    In this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared. Copyright © The Author(s), 2020. Published by Cambridge University Press.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 4
    Extending Model-Mediation Method To Multi-Degree Teleoperation Systems Experiencing Time Delays in Communication
    (Cambridge University Press, 2017) Uzunoğlu, Emre; Dede, Mehmet İsmet Can
    SUMMARY 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.