WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7150

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2016 - 201912020 - 20211

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Author: search.filters.author.Dede, Mehmet İsmet CanPublisher: search.filters.publisher.SAGE Publications Inc.

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Now showing 1 - 2 of 2
  • Article
    Citation - WoS: 8
    Citation - Scopus: 14
    Partial Gravity Compensation of a Surgical Robot
    (SAGE Publications Inc., 2021) Maaroof, Omar Waleed Najm; Dede, Mehmet İsmet Can; Saeed, Saad Zaghlul; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators. © The Author(s) 2021.
  • Article
    Citation - WoS: 8
    Citation - Scopus: 10
    A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
    (SAGE Publications Inc., 2016) Dede, Mehmet İsmet Can; Maaroof, Omar W.; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can; 03.05. Department of Electrical and Electronics Engineering; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.