Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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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: 16Citation - Scopus: 16Learning Control of Robot Manipulators in Task Space(John Wiley and Sons Inc., 2018) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, KamilTwo important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being able to utilize the robot manipulator dynamics due to uncertainties complicated the control design. In a seemingly novel departure from the existing works in the literature, the tracking problem is formulated in the task space and the control input torque is aimed to decrease the task space tracking error directly without making use of inverse kinematics at the position level. A repetitive learning controller is designed which “learns” the overall uncertainties in the robot manipulator dynamics. The stability of the closed-loop system and asymptotic end-effector tracking of a periodic desired trajectory are guaranteed via Lyapunov based analysis methods. Experiments performed on an in-house developed robot manipulator are presented to illustrate the performance and viability of the proposed controller.Article Citation - WoS: 11Citation - Scopus: 11Design and Development of an Educational Desktop Robot R3d(John Wiley and Sons Inc., 2017) Şahin, Osman Nuri; Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet CanRobotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R3D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared.Conference Object Citation - WoS: 5Citation - Scopus: 7Nonlinear Control of Tendon Driven Robot Manipulators: Elimination of Actuator Side Position Measurements(Institute of Electrical and Electronics Engineers Inc., 2015) Okur, Beytullah; Zergeroğlu, Erkan; Tatlıcıoğlu, EnverIn this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for tendon driven robot manipulators under the constraint that only the link position and tendon expansion force measurements are available. Despite the lack of link and actuator side velocity and actuator position measurements, the proposed controller ensures exponential link position tracking. To eliminate the need of actuator position and velocity measurements, a model based velocity observer has been utilized. Stability of the closed loop system and boundedness of system states are proven via Lyapunov based arguments. The performance of the purposed observer-controller couple is then verified by a set of numerical simulations.Article Citation - WoS: 9Citation - Scopus: 13Nonlinear Robust Control of Tendon–driven Robot Manipulators(Springer Verlag, 2015) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, EnverThis work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear robust controller is proposed to tackle the link position tracking problem for tendon–driven robot manipulators with uncertain dynamical system parameters. A robust backstepping approach has been utilized to achieve uniformly ultimately bounded tracking performance despite the lack of exact knowledge of the dynamical parameters and presence of additive but bounded disturbance terms. Stability of the overall system is proven via Lyapunov based arguments. Simulation studies performed on a two link planar robot manipulator driven by a six tendon mechanism are presented to illustrate the effectiveness and viability of the proposed approach.