Position/force control of robot manipulators

Dede, Mehmet İsmet Can


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Kalfa, Mert; ERTÜRK, VAKUR BEHÇET; Ergül, Özgür Salih (2018-07-13)
We present a new error control scheme that provides the truncation numbers as well as the required digits of machine precision for the multilevel fast multipole algorithm (MLFMA). The proposed method is valid for all frequencies, whereas the previous studies on error control are valid only for high-frequency problems. When combined with a multiple-precision arithmetic framework, the proposed method can be used to solve low-frequency problems that would otherwise experience overflow issues. Numerical results...
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This study develops a novel command generation paradigm for desktop fused filament fabrication 3D printers. In the conventional approach, designed artifact in CAD software is saved as an STL file, which is still a de-facto file standard in the field, and then imported into the CAM software of the corresponding 3D printer. After adjusting the printing parameters (feed rate, layer thickness, infill percentage, etc.), the G-code file is generated within the CAM software and it is transferred to the printer for...
Shape Optimizations of Metallic Sheets for Improved Near-Zone Scattering, Reflection, and Focusing Characteristics
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We consider full-wave analysis and optimizations of metallic sheets to obtain desired electromagnetic responses in the near-zone field intensity and power density distributions. Given a metallic sheet of finite size, deformations are applied to achieve diverse scattering and reflection characteristics, particularly focusing and collecting electromagnetic power at different locations. Optimizations are performed by employing genetic algorithms in a multigrid scheme on the discretized geometry, while each tri...
Hybrid heuristic algorithms for the multi objective load balancing of 2D bin packing problems
Muhammet, Beyaz; Dökeroğlu, Tansel; Coşar, Ahmet (null; 2015-09-23)
2D Bin packing problem (2DBPP) is an NP-hard combinatorial optimization problem. Multiobjective versions of this well-known industrial engineering problem can occur frequently in real world application. Recently, Hybrid Evolutionary Algorithms have appear as a new area of research with their ability to combine alternative heuristics and local search mechanisms together for higher quality solutions. In this study, we propose a set of novel multiobjective hybrid genetic and memetic algorithms that make use of...
Citation Formats
M. İ. C. Dede, “Position/force control of robot manipulators ,” M.S. - Master of Science, Middle East Technical University, 2003.