Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Dynamic Movement Primitives and Force Feedback: Teleoperation in Precision Grinding Process
Date
2017-12-02
Author
Açıkgöz, Kemal
Dönder, Abdülhamit
Ugurlu, Musab Cagri
Konukseven, Erhan İlhan
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
50
views
0
downloads
Cite This
In this work, the Dynamic Movement Primitives (DMPs) concept for teleoperation on a robotic deburring machine is investigated. The correspondence problem occurs when human link and joint structures are different than target robot. Thus, transferring human movements to robot is generally problematic. Here, a teleoperation scheme is followed where human movements are directly converted to target robot while imposing capabilities of robot to the operator. A single degree of freedom haptic interface which relays the process forces to the human participant is built for controlling the deburring machine remotely. Human participant rotates the knob of the haptic device to keep the normal force constant. The knob motion is converted to the piezoelectric actuator via teleoperation. The DMPs of participants for different experiments are extracted and the ones with the lowest time span are collected in a single database which then used for simulation on different force values.
Subject Keywords
Force
,
Robot sensing systems
,
Deburring
,
Haptic interfaces
,
Piezoelectric actuators
,
Tools
URI
https://hdl.handle.net/11511/55795
Conference Name
10th International Conference on Electrical and Electronics Engineering (ELECO)
Collections
Department of Mechanical Engineering, Conference / Seminar
Suggestions
OpenMETU
Core
Motion control of flexible-link manipulators
KILIÇASLAN, SEMA; Ider, S. K.; Özgören, Mustafa Kemal (2008-12-01)
A new method is proposed for the end-effector trajectory tracking control of flexible robot manipulators. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it, The part of the control input for the pseudostatic equilibrium is determined algebraically, and the other part of the control input for the stabilization of the deviations is obtained by a state variable feedback law, by using strain, joint variable, and end-effector position meas...
Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control
Pouya, Soha; Aydın Göl, Ebru; Moeckel, Rico; Ijspeert, Auke Jan (2011-01-01)
This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and ...
Sensor based planning: A control law for generating the generalized Voronoi graph
Choset, H; Konukseven, Erhan İlhan; Rizzi, A (1997-01-01)
We introduce a new control law for robots that explore unknown environments and configuration spaces. Unlike numerical continuation methods, which produce a jagged path because of the predictor-corrector approach, the control law, introduced in this paper, performs sensor based planning by directing the head of a robot to follow continuously a roadmap. Recall that a roadmap is a one-dimensional representation of a robot's environment. Once the robot exhaustively traces out the roadmap using this control law...
Mechanical brake design for passive haptic device
Yilmaz, Serter; Konukseven, Erhan İlhan; Gurocak, Hakan (2011-12-28)
This paper explores a new mechanical brake design to be used in order to limit the motion in low cost and high force passive haptic device design. The designed mechanical brake was inspired from the working principle of a coaster brake used in bicycles. The brake consists of conic surfaces actuated by a DC motor. A leaf spring is added to the system to detect the direction of the user movement. A 1-DOF haptic interface was developed to study virtual wall collisions. Two different prototypes were manufacture...
Hybrid force and motion control of robots with flexible links
KILIÇASLAN, SİNAN; Özgören, Mustafa Kemal; Ider, S. Kemal (2010-01-01)
Considering robot manipulators with flexible links, a new method is proposed to control their constrained end-effector motions and the associated contact forces and/or moments. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it. The feedforward part of the control input based on the pseudostatic equilibrium is determined algebraically and the feedback part of the control input for the stabilization of the deviations is obtained by mean...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
K. Açıkgöz, A. Dönder, M. C. Ugurlu, and E. İ. Konukseven, “Dynamic Movement Primitives and Force Feedback: Teleoperation in Precision Grinding Process,” presented at the 10th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, TURKEY, 2017, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55795.