İki Linkli Robot Manipülatörün Modellenmesi ve Bozucu Etki Altında Yörünge Kontrolü

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

Bu çalışmada, iki linkli düzlemsel bir robot manipülatörün bozucu etki altında yörünge kontrolü yapılmıştır. ADAMS yazılımı vasıtasıyla manipülatörün sanal bir prototipi oluşturulmuştur. Ayrıca, sistem için gerekli olan kontrolcü tasarımı MATLAB/Simulink ortamında gerçekleştirilmiştir. Sistemin simülasyonu ise MATLAB ve ADAMS yazılımlarının eş zamanlı olarak çalıştırılması ile gerçekleştirilmiştir. Robot manipülatör iki giriş ve dört çıkışa sahiptir. Girişler, her iki eklemin tahriki için gerekli olan motor torkları, çıkışlar ise her iki eklemin açıları ve uç elemanın konumunun x-y bileşenleri ...Daha fazlası

Optimal Tuning of the SMC Parameters for a Two Two-Link Manipulator Co-Simulation Control

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

—This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (SMC) controller and the Proportional Integral Derivative (PID) controller in terms of the performance analysis. As a result, the SMC demonstrates effective control performances compared to the PID controller according to the required trajectory, set ...Daha fazlası

Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab

İLGEN, Sinan | OFLAZ, Emre | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

This research is aimed at developing a multi-body simulation model and balancing control of a single-wheeled inverted pendulum. A virtual prototype of the system has been built by using Adams software and it is simulated in both Matlab and Adams software together. The Adams model has two inputs (disturbance and control) and two outputs (pendulum angle and wheel position). Proportional-integral-derivative (PID) controller is designed and applied for balancing control and simulation of pendulum angle. The modelling and control results show that the Proportional-integral-derivative (PID) controll ...Daha fazlası

Sliding Mode Control of a Two-link Robot Manipulator Using Adams & Matlab Software

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with t ...Daha fazlası

The Bees Algorithm Approach to Determining SMC Controller Parameters for the Position Control of a SCARA Robot Manipulator

İlgen, Sinan | Durdu, Akif | Gülbahçe, Erdi | Çakan, Abdullah | Kalyoncu, Mete

Designing Modular Bite Force Measurement System for Stomatognathic Considerations

KAYA, Doğan Ilgaz | GÜLBAHÇE, Erdi | OFLAZ, Emre | AKTI, Ahmet

The stomatognathic system is a very complex structure that includes the temporomandibular joint, masticatory muscles, teeth, gingiva, tongue, and pharynx. In this structure, maximum bite force measurement has been an important field of study in the diagnosis and treatment of diseases caused by disorders related to chewing habits. Objectives: Since existing measurement systems are expensive and impractical, researchers are in search of better systems. In this study, a modular and low-cost system has been developed to measure the bite forces accurately. Materials and Methods: The sensor data rea ...Daha fazlası