Master Degree / Yüksek Lisans Tezleri

Permanent URI for this collectionhttps://hdl.handle.net/11147/3008

Browse

Filters

2008 - 200922010 - 20161

Settings

Publisher: search.filters.publisher.Izmir Institute of TechnologySubject: search.filters.subject.Robots

Search Results

Now showing 1 - 3 of 3
  • Master Thesis
    Learning Control of Robot Manipulators With Telerobotic Applications
    (Izmir Institute of Technology, 2016) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver
    Learning control of teleoperation systems that can be utilized in telerehabilition applications is investigated in this thesis. Specifically, considering the fact that in rehabilitation the patient is required to perform a task over and over again, learning controllers are considered as the most feasible solution, in which desired trajectories are periodic with a known period. Since control of teleoperation systems are directly related with the control of robots that are included to the system, learning control of joint space and task space of these robots are simulated in the first part of this study. Joint space learning controller is designed under the restrictions that the robot dynamic model being uncertain and that joint velocities are unmeasurable. Then, a task–space learning controller is designed by considering the fact that the most desired tasks are defined in the end–effector space. Via Lyapunov based stability analysis methods, asymptotic tracking is ensured for both controllers. Numerical simulation results and experimental studies are utilized to illustrate the performance of the designed controllers. In the second part of this thesis, performance of the direct teleoperation and model mediated teleoperation methods under time delays in the communication cahannel are examined in a comparative manner. In direct teleoperation, the information between master and slave systems are exchanged directly, while the model of the environment of the slave system is learnt and integrated at the master side as proxy dynamics in model mediated teleoperation. Experimental studies are realized to evaluate the performance of both of mentioned methods.
  • Master Thesis
    Robotization of Hand Woven Carpet Technology Process
    (Izmir Institute of Technology, 2008) Selvi, Özgün; Alizade, Rasim
    This thesis covers a study on the structural design of new overconstrained mechanisms and manipulators and their application to the robotization of hand woven carpet technology process.Moreover, recurrent vector equations are investigated for the synthesis of linkages, and used for the design of new mechanisms with linear-angular conditions in the subspace with general constraint one. These conditions are generalized for defining the structural groups of subspace ..5 and these structural groups are used both for the creation of new parallel manipulators and new serial-parallel platform manipulators.After investigating hand woven carpets, the knowledge gained during the structural design of mechanisms is applied to the robotization of hand woven carpet technology process. Finally, design of carpet weaving robot is introduced.
  • Master Thesis
    Path Generation Analysis of Flexible Manipulators
    (Izmir Institute of Technology, 2008) Bingöl, Hakan; Atan, Ebubekir
    By the improving technology, usage of robotic manipulators has been increased a lot in last decades. Robotic manipulators are usually used in continuous production and dangerous operations. General industries, medical applications and space missions are the most important usage areas for these manipulators. In these applications, the manipulator faces to deviation of the end effecter which depends on many reasons like friction, vibration, elastic and plastic deformations. However, the robotic calculations made, as the links of the manipulator are rigid and other effects are neglected.The aim of this thesis is to improve a path generation analysis method for the three link flexible planer manipulator. The three link manipulator is considered to investigate the flexibility effect of links on path generation. Firstly the problem and solution method is introduced then the inverse kinematic analysis is applied for the three link rigid planer manipulator. The finite element model of the three link flexible planer manipulator is developed by using the plane frame element. The general equations of the tip point displacements of the three link flexible planer manipulator are expressed and Matlab program is coded. Finally, the library robots made by aluminum and steel are chosen for numerical examples. In conclusion the results of numerical example are shown for each position of the manipulator and discussed.