Mustafa Kemal Özgören

E-mail

ozgoren@metu.edu.tr

Department

Department of Mechanical Engineering

ORCID

0000-0002-7125-4580

Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises Kılıçaslan, Sinan; Özgören, Mustafa Kemal; Ider, Sıtkı Kemal (2022-07-01) This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally...
Energy and Time Optimal Autopilot for Electric Vehicles Performing Ackerman Cornering Ahiska, Kenan; Özgören, Mustafa Kemal; Leblebicioğlu, Mehmet Kemal (2022-03-01) This paper studies energy and time optimality of electric vehicles during constant Ackerman steering along a quad-circle, and proposes an autopilot assimilating the optimal results. The energy and time optimal solutions sa...
Composite impact vector control based on Apollo descent guidance ERER, Koray S.; TEKIN, Raziye; Özgören, Mustafa Kemal (2022-01-01) © 2021 Chinese Society of Aeronautics and AstronauticsA new three-dimensional missile guidance law to control the impact vector against a stationary target is proposed. The composite guidance law has two well-known compone...
Energy Optimality in Electric Vehicles Along Uphill-Downhill Roads Ahiska, Kenan; Özgören, Mustafa Kemal; Leblebicioğlu, Mehmet Kemal (2021-09-01) In this paper, an energy optimal controller is designed with torque, speed and battery constraints, and detailed sensitivity analyses are performed. The design is tested on the gross motion mathematical model of the vehicl...
Motion Control of a Spatial Elastic Manipulator in the Presence of Measurement Noises Kilicaslan, Sinan; İder, Sıtkı Kemal; Özgören, Mustafa Kemal (2021-07-01) This paper presents a method for the end effector motion control of a spatial three-link robot having elastic second and third links including measurement noises. In the derivation of equations of motion, not to face with ...
Design and kinematic analysis of a novel rehabilitative robotic walking simulation device Kose, Kemal Cem; Özgören, Mustafa Kemal; Tekce, Ferzende; DÖNER, NİMETİ (2021-04-01) This paper presents an original rehabilitative robotic walking simulation device. As a novel feature, it can duplicate the walking motion of the feet completely by including the motion of the metatarsophalangeal joints as ...
Estimation of the Balance-Keeping Control Law Applied by a Human Being Upon a Sudden Sagittal Tilt Perturbation BİLGİN, NURDAN; Özgören, Mustafa Kemal (2019-04-01) This study aims to estimate the control law employed by the central nervous system (CNS) to keep a person in balance after a sudden disturbance. For this aim, several experiments were carried out, in which the subjects wer...
Kinematic and Kinetostatic Analysis of Parallel Manipulators with Emphasis on Position, Motion, and Actuation Singularities Özgören, Mustafa Kemal (2019-04-01) This paper provides a contribution to the singularity analysis of the parallel manipulators by introducing the position singularities in addition to the motion and actuation singularities. The motion singularities are asso...
Comparative study of attitude control methods based on Euler angles, quaternions, angle-axis pairs and orientation matrices Özgören, Mustafa Kemal (2019-03-01) This paper presents a comparative study about the attitude control methods based on four commonly used error indicators, namely the triad of 3-2-1 deviational Euler angles, the error quaternion, the deviational angle-axis ...
Autopilot Design for Vehicle Cornering Through Icy Roads Ahiska, Kenan; Özgören, Mustafa Kemal; Leblebicioğlu, Mehmet Kemal (2018-03-01) In this paper, vehicle cornering along roads with low friction coefficient is studied, and an autopilot design is proposed to satisfy desired handling performance. A novel hierarchical optimization approach is presented to...

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