Sensörsüz Seri Elastik Tekniği ile Bir Kablo Sürümlü Düzlemsel Mekanizmanın Kontrolü

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2022-11-01

Author

Kunduz, İrfan
Durmaz, Atakan
Albayrak, Özlem
Alp, Tilbe
Ünal, Perin
Ankaralı, Mustafa Mert

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Bu çalışmada, sensörsüz elastik seri tekniği ile kablo sürümlü bir düzlemsel mekanizmanın kontrolü incelenmektedir. Kablo sürümlü robotlar, gösteri alanlarında örümcek kamera olarak yatay düzlemde çalışan şekilde hali hazırda kullanılmaktadırlar. Bu çalışmada ise düşey düzlemde çalışan bir kablo sürümlü robot üzerinde çalışılmaktadır. Mekanizmanın düşey düzlemde çalışması sebebiyle de örümcek kameralardaki gibi her motora eşit kuvvet uygulanmamaktadır. Kablo sürümlü robotların kontrolü için kullanılan, sensörlerden alınan bilgilerin işlenmesine dayalı yöntemleri kullanmak yerine, sensörlerden elde edilen bilgilerde oluşabilecek herhangi bir gecikmeden veya hatadan etkilenmemek için bu çalışmada sensörsüz bir kontrol tekniği kullanılmaktadır. Sırasıyla, mekanizmanın mekanik, donanım ve yazılım kısımlarının açıklanmasının ardından, kontrol stratejimizin matematiksel olarak derinlemesine çalışılacağı modelleme ve varsayımlar sunulmaktadır. Çalışmanın sonuç bölümünde simülasyon ve gerçek çıktılar karşılaştırılmaktadır.

Subject Keywords

Cable-driven planar mechanism, Sensorless elastic series technique, Mathematical model, Kablo sürümlü düzlemsel mekanizma, Sensörsüz elastik seri tekniği, Matematiksel model

URI

https://dergipark.org.tr/tr/pub/ejosat/issue/72892/1072206
https://hdl.handle.net/11511/101400

Journal

Avrupa Bilim ve Teknoloji Dergisi

DOI

https://doi.org/10.31590/ejosat.1072206

Collections

Department of Electrical and Electronics Engineering, Article

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Citation Formats

İ. Kunduz, A. Durmaz, Ö. Albayrak, T. Alp, P. Ünal, and M. M. Ankaralı, “Sensörsüz Seri Elastik Tekniği ile Bir Kablo Sürümlü Düzlemsel Mekanizmanın Kontrolü,” Avrupa Bilim ve Teknoloji Dergisi, no. 41, pp. 324–330, 2022, Accessed: 00, 2023. [Online]. Available: https://dergipark.org.tr/tr/pub/ejosat/issue/72892/1072206.