Modelling, trajectory planning and control of computer controlled manipulators

Balkan, Tuna


Trajectory planning algorithms for cooperating robots
Selvi, Emre; Soylu, Reşit; Department of Mechanical Engineering (2003)
Control of a planar cable-actuated parallel manipulator with realistic cables
Düzgören, Onur; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2018)
The cable-actuated parallel manipulators comprise a new class of robotic systems which utilize length-controlled unilateral force elements like cables or wires to move and orient an object. They provide several benefits over conventional parallel robots, such as larger workspace, simpler structure, and higher payload/manipulator weight ratio. However, the cables can only be pulled but not pushed. Besides, they may sag due to their own weight. Therefore, the cable-actuated manipulators pose challenges in mod...
Software development for man-machine interface for an industrial robot
Cengiz, Mahir Cihan; Kaftanoğlu, Bilgin; Department of Mechanical Engineering (2003)
In this study, a robotic software, which controls the robot, is developed. The robot considered is a six degree of freedom robot and it is designed and manufactured in METU. User can send the robot anywhere in space within its workspace, in any orientation. Forward and inverse kinamatics can be executed according to the needs. Simulation framework is embedded into the software for the 3D visualisation of the robot. Any movements can be simulated on the screen. Software also generates the path for the given ...
Implementation of a closed-loop action generation system on a humanoid robot through learning by demonstration
Tunaoğlu, Doruk; Şahin, Erol; Department of Computer Engineering (2010)
In this thesis the action learning and generation problem on a humanoid robot is studied. Our aim is to realize action learning, generation and recognition in one system and our inspiration source is the mirror neuron hypothesis which suggests that action learning, generation and recognition share the same neural circuitry. Dynamic Movement Primitives, an efficient action learning and generation approach, are modified in order to fulfill this aim. The system we developed (1) can learn from multiple demonstr...
Dynamic position controlof robot manipulators
Bodur, Mehmet; Sezer, Erol; Department of Electrical and Electronics Engineering (1991)
Citation Formats
T. Balkan, “Modelling, trajectory planning and control of computer controlled manipulators,” Ph.D. - Doctoral Program, Middle East Technical University, 1988.