Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Scopus Q: search.filters.scopusQuartile.Q1Subject: search.filters.subject.Robot manipulators

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  • Article
    Citation - WoS: 39
    Citation - Scopus: 43
    Self-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, Musa
    End 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. IEEE
  • 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.