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: 4Citation - Scopus: 5Toward Safe and High-Performance Human-Robot Collaboration Via Implementation of Redundancy and Understanding the Effects of Admittance Term Parameters(Cambridge University Press, 2022) Kanık, Mert; Ayit, Orhan; Dede, Mehmet İsmet Can; Tatlıcıoğlu, EnverSummary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.Article Citation - WoS: 6Citation - Scopus: 7Human-Robot Interfaces of the Neuroboscope: a Minimally Invasive Endoscopic Pituitary Tumor Surgery Robotic Assistance System(ASME, 2021) Dede, Mehmet İsmet Can; Kiper, Gökhan; Ayav, Tolga; Özdemirel, Barbaros; Tatlıcıoğlu, Enver; Hanalioğlu, Şahin; Işıkay, İlkayEndoscopic endonasal surgery is a commonly practiced minimally invasive neurosurgical operation for the treatment of a wide range of skull base pathologies including pituitary tumors. A common shortcoming of this surgery is the necessity of a third hand when the endoscope has to be handled to allow active use of both hands of the main surgeon. The robot surgery assistant NeuRoboScope system has been developed to take over the endoscope from the main surgeon's hand while providing the surgeon with the necessary means of controlling the location and direction of the endoscope. One of the main novelties of the NeuRoboScope system is its human-robot interface designs which regulate and facilitate the interaction between the surgeon and the robot assistant. The human-robot interaction design of the NeuRoboScope system is investigated in two domains: direct physical interaction (DPI) and master-slave teleoperation (MST). The user study indicating the learning curve and ease of use of the MST is given and this paper is concluded via providing the reader with an outlook of possible new human-robot interfaces for the robot assisted surgery systems.Article Citation - WoS: 39Citation - Scopus: 43Self-Adjusting Fuzzy Logic Based Control of Robot Manipulators in Task Space(Institute of Electrical and Electronics Engineers Inc., 2021) Yılmaz, Bayram Melih; Tatlıcıoğlu, Enver; Savran, Aydoğan; Alcı, MusaEnd effector tracking control of robot manipulators subject to dynamical uncertainties is the main objective of this work. Direct task space control that aims minimizing the end effector tracking error directly is preferred. In the open loop error system, the vector that depends on uncertain dynamical terms is modeled via a fuzzy logic network and a self-adjusting adaptive fuzzy logic component is designed as part of the nonlinear proportional derivative based control input torque. The stability of the closed loop system is investigated via Lyapunov based arguments and practical tracking is proven. The viability of the proposed control strategy is shown with experimental results. Extensions to uncertain Jacobian case and kinematically redundant robots are also presented. IEEEArticle Citation - WoS: 10Citation - Scopus: 10Periodic Disturbance Estimation Based Adaptive Robust Control of Marine Vehicles(Elsevier, 2021) Kurtoğlu, Deniz; Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanTracking control of marine vessels in the presence of parametric uncertainty and additive periodic disturbances is considered. For optimal estimation of environmental forces, periodic disturbance estimation method inspired from Fourier series expansion have been applied. Stability of the closed–loop system and the convergence of the tracking error under the closed–loop operation are established via Lyapunov based arguments. Simulation studies are provided to support the theoretical results and the effectiveness of the proposed method. © 2020 Elsevier LtdConference Object Citation - Scopus: 5Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension(Institute of Electrical and Electronics Engineers Inc., 2007) Tatlıcıoğlu, Enver; Dawson, Darren M.; Xian, B.In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.Conference Object Citation - WoS: 15Citation - Scopus: 20Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper](Institute of Electrical and Electronics Engineers Inc., 2008) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties.Conference Object İha'lar için Gürbüz Takip Denetçisi(Institute of Electrical and Electronics Engineers Inc., 2013) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanIn this study, a nonlinear control technique that guarantee exponential output tracking for unmanned aerial vehicles subject to uncertainties in system dynamics and additive nonlinear disturbances is developed. In the literature, dynamic inversion method which is a nonlinear control technique commonly used within the aerospace community to replace aircraft dynamics with a reference model. Dynamic inversion and robust control methods were usually utilized together to compensate for the uncertainties and ensure output tracking. Review of the literature highlights the fact that, in previous works, estimate of the uncertain system matrices was used in the controller design. In our study, we removed the requirement for the estimate of the uncertain system matrices and yet still guarantee exponential tracking of a reference model.Conference Object Robust Control of a Rigid Link in a Cross Flow(Institute of Electrical and Electronics Engineers Inc., 2015) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanRemotely operated vehicles equipped with a robotic manipulator are utilized in several underwater/deep sea applications. Control of these type of systems are mostly provided by obtaining the proper position for the end effector of robotic manipulator which constitutes the desired motion for remotely operated vehicle. This situation makes the control of robotic manipulators is really important subject for underwater applications. In this work, we study tracking control of a one degree-of-freedom rigid link in a cross flow. Systems operating at underwater (including this one) are hard to model accurately, and as a result their models include several uncertainties. To reject these modeling uncertainties and external ones, two robust controllers are proposed. Stability of the closed-loop system and the asymptotic convergence of the tracking error are proven mathematically. Numerical simulations are performed to demonstrate the viability of the proposed controller.Conference Object Citation - WoS: 6Citation - Scopus: 6Operational/Task Space Learning Control of Robot Manipulators With Dynamical Uncertainties(Institute of Electrical and Electronics Engineers Inc., 2015) Doğan, K. Merve; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this work, we consider the problem of operational/task space tracking control of a robot manipulator where a periodic desired end-effector pose is to be tracked. Specifically, we designed a repetitive learning controller that guarantees asymptotic end-effector tracking of periodic trajectories (with known period) while "learning" the overall uncertainties in the system dynamics. The proposed controller does not make use of the inverse kinematic formulation on the position level and the stability of the closed-loop system is guaranteed via Lyapunov based arguments. Numerical studies are conducted on a two link planar robot are presented to illustrate the performance and viability of the proposed method.Conference Object A New Continuous Velocity Observer Formulation for a Class of Uncertain Nonlinear Mechanical Systems(Institute of Electrical and Electronics Engineers, 2015) Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan; Deniz, MeryemIn this study, we present a smooth robust velocity observer for a class of uncertain nonlinear mechanical systems. The smoothness of the observers is guaranteed by utilizing hyperbolic tangent function as opposed to signum-type functions applied in most robust and sliding mode observers found in the literature. The proposed observer does not require a priori knowledge of an upper bound of the uncertain system dynamics and introduces a time-varying observer gain for uncertainty compensation. Practical stability of the observer error is ensured via Lyapunov-type stability analysis. Numerical simulation studies backed up by experimental results are presented to illustrate the performance of the proposed observer.