WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7150
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Article Citation - WoS: 31Citation - Scopus: 37Kinematic Design of a Non-Parasitic 2r1t Parallel Mechanism With Remote Center of Motion To Be Used in Minimally Invasive Surgery Applications(Elsevier Ltd., 2020) Yaşır, Abdullah; Kiper, Gökhan; Kiper, Gökhan; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.Conference Object Citation - WoS: 1Citation - Scopus: 1A Dynamic Model Free Observer Based Output Feedback Tracking Control of Robot Manipulators in Task-Space(Institute of Electrical and Electronics Engineers Inc., 2018) Çobanoğlu, Necati; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyThis paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method.Article Citation - WoS: 6Citation - Scopus: 7On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation(Springer Verlag, 2017) Aksoy, Orhan; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyThe 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.