WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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

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Now showing 1 - 9 of 9
  • Article
    Citation - WoS: 4
    Citation - Scopus: 5
    Toward 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, Enver
    Summary 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.
  • 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, Erkan
    Remotely 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: 2
    Citation - Scopus: 2
    Continuous Robust Task-Space Tracking Control of Robotic Manipulators With Uncertain Dynamics
    (Institute of Electrical and Electronics Engineers Inc., 2015) Cetin, K.; Tatlicioglu, E.; Zergeroglu, E.
    In this work, the problem of robust task space control of robotic manipulators with continuous control inputs have been considered. Under mild assumptions on kinematic formulation and dynamics of the robot manipulator, a continuous robust controller have been proposed. The proposed controller ensures asymptotic end-effector tracking despite the presence of unstructured uncertainties associated with the dynamical terms. Numerical simulations conducted on a two degree-of-freedom robot manipulator is also presented to illustrate the feasibility and performance of the proposed controller. © 2015 IEEE.
  • Conference Object
    Citation - WoS: 6
    Citation - Scopus: 6
    Operational/Task Space Learning Control of Robot Manipulators With Dynamical Uncertainties
    (Institute of Electrical and Electronics Engineers Inc., 2015) Doğan, K. Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In 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
    Citation - Scopus: 1
    Modelling Twin Rotor System With Artificial Neural Networks
    (Institute of Electrical and Electronics Engineers Inc., 2015) Deniz, Meryem; Bıdıklı, Barış; Bayrak, Alper; Özdemirel, Barbaros; Tatlıcıoğlu, Enver
    In this study, the input output relation of the twin rotor system which was constructed in our laboratory is obtained by using ANNs. When compared with the existing literature, main advantage of this modelling approach is that multi input multi output ANN structure is used preferred. As a result of this approach, the cross coupling effects, between the rotors and also between the outputs, are taken into consideration. Thus, we sincerely believe that the obtained input output model demonstrates a close behavior to the real system.
  • Article
    Citation - WoS: 2
    Citation - Scopus: 14
    Dynamic Modelling for Planar Extensible Continuum Robot Manipulators
    (ACTA Press, 2009) Tatlıcıoğlu, Enver; Walker, I. D.; Dawson, D. M.
    In this paper, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this paper extends the previously available models to include a class of extensible continuum robot manipulators. First, the kinetic energy of a slice of the continuum robot is evaluated. Next, the total kinetic energy of the manipulator is obtained by utilizing a limit operation (i.e., sum of the kinetic energy of all the slices). Then, the gravitational potential energy of the manipulator is derived. Next, the elastic potential energy of the manipulator is derived for both bending and extension. Finally, the dynamic model of a planar 3-section extensible continuum robot manipulator is derived by utilizing the Lagrange representation. Numerical simulation results are presented for a planar 3-section extensible continuum robot manipulator.
  • Article
    Citation - WoS: 7
    Citation - Scopus: 9
    Adaptive Control Non-Linear Teleoperator Systems in the Presence of Additive Input and Output Disturbances
    (ACTA Press, 2010) Tatlıcıoğlu, Enver
    In this paper, a robust adaptive controller is developed for nonlinear teleoperator systems. The controller is proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. Robust integral of the sign of the error terms are utilized in the design of the controller and Lyapunov-based techniques are used to guarantee that the coordination between the master and the slave systems is ensured and the tracking error is asymptotically driven to zero.
  • 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: 6
    Citation - Scopus: 7
    Neural Network Based Robust Control of an Aircraft
    (ACTA Press, 2020) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan
    Output tracking control of an aircraft subject to uncertainties in the dynamic model and additive state-dependent nonlinear disturbancelike terms is aimed. Uncertainties in the aircraft dynamic model yield an uncertain input gain matrix, which is neither positive definite nor symmetric and an uncertain term in the error dynamics. To deal with the uncertain input gain matrix, a decomposition method is utilized to put error dynamics in a form where an uncertain positive definite matrix multiplies the auxiliary error but this results in the control input to be pre-multiplied first with a unity upper triangular matrix which is uncertain and then with a known diagonal matrix. A novel controller composed of a neural network compensation term and an integral of signum of error is designed. A novel Lyapunov type stability analysis is utilized to prove global asymptotic tracking of output of a reference model. Extensive numerical simulations are presented to demonstrate the efficacy of the proposed controller where robustness to variation of initial states and a comparison with a robust controller are also shown. © 2020 Acta Press. All rights reserved.