Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/11

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Publisher: search.filters.publisher.John Wiley and Sons Inc.WoS Q: search.filters.wosQuartile.Q2

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Now showing 1 - 4 of 4
  • Article
    Citation - WoS: 16
    Citation - Scopus: 16
    Learning Control of Robot Manipulators in Task Space
    (John Wiley and Sons Inc., 2018) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, Kamil
    Two 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: 11
    Citation - Scopus: 11
    Design and Development of an Educational Desktop Robot R3d
    (John Wiley and Sons Inc., 2017) Şahin, Osman Nuri; Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can
    Robotic 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.
  • Article
    Citation - WoS: 11
    Citation - Scopus: 11
    Design of an Experimental Twin-Rotor Multi-Input Multi-Output System
    (John Wiley and Sons Inc., 2015) Bayrak, Alper; Doğan, Fırat; Tatlıcıoğlu, Enver; Özdemirel, Barbaros
    Twin-rotor multi-input multi-output system (TRMS) is a popular experimental setup utilized mostly for development and evaluation of aerovehicle control algorithms. Motivated by its popularity, construction steps of a TRMS setup in an academic setting are presented in this paper. Specifically, design of mechanical and electronic hardware components and development of related computer software are described in detail. Preliminary experiment results are also presented to demonstrate the performance of the system. © 2015 Wiley Periodicals, Inc.
  • Article
    Citation - WoS: 3
    Citation - Scopus: 3
    On-Line Educational Tool for the Parallel Operation of the Synchronous Generators
    (John Wiley and Sons Inc., 2011) Bekiroğlu, Erdal; Bayrak, Alper
    This study presents a PC and a PIC microcontroller based an on-line educational tool for the monitoring and controlling of the parallel operation of the synchronous generators. The presented tool measures the voltages, the frequencies, the phase sequences, and the synchronism time data of the generators through microcontroller. The measured data, the voltage graphics, and the status of the parallel operation conditions are monitored on the computer instantaneously. The parallel operation of the generators is controlled with the developed tool automatically. The educational tool is user-friendly, real-time, reliable, and precise. © 2009 Wiley Periodicals, Inc.