OBJECT-ORIENTED REPRESENTATION OF A ROBOT MANIPULATOR

Date

1994-04-14

Author

Zontul, H
Ersak, Aydın

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

152
views

0
downloads

The paper presents an object-oriented representation of a robot manipulator. The representation developed here is appropriate to implement a robot simulation package. The software package is easy to use and gives insight to the robot kinematics, the dynamics and the control subjects. The robot representation has been tested in resolved motion rate control and hybrid position/force control applications.

Subject Keywords

Automation, Control systems, Computer science, Artificial intelligence, Engineering, Electrical electronic engineering, Telecommunications, Robot kinematics, Object oriented modeling, Packaging, Manipulator dynamics, Motion control, Force control, Jacobian matrices, Testing, Education, Position control

URI

https://hdl.handle.net/11511/62703

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task Erden, MS; Leblebicioğlu, Mehmet Kemal; Halıcı, Uğur (Springer Science and Business Media LLC, 2004-03-01) This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The control variables of the controllers are linear velocity of the base, angular velocity of the elbow, and angular velocity of the shoulder. Main inputs to the system are the horizontal ...
Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task Erden, Mustafa Suphi; Leblebicioglu, Kemal; Halıcı, Uğur (2002-01-01) Copyright © 2002 IFAC.This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The fuzzy rules of each agent are written considering the state of other agents besides its own state. While writing the rules effective delivery and avoiding the con...
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 complex equations of motion, each link is modeled as though the links are not connected and the restrictions on the links due to connecting them by joints are written as constraint equations. After that the Lagrange multipliers are eliminated and the constraint equations at the acceleratio...
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part I: Vorticity model Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01) The manipulation phase of a multifingered robot hand is initialized, upon contact, by the impact force patterns imparted to the object at contact points, in the final state of a preshaped hand closure. The object then inherits from contacts different helix motion tendencies (translation, rotation) as the initial conditions of manipulation. These motion tendencies are caused by the forces/torques imparted to the object upon impact, and are generated by changes of momenta of the closing hand preshape at the c...
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 well. It is also adjustable to different foot sizes and gait parameters such as speed, step length, and foot elevation. The presented device comprises two identical mechanisms that simulate the right and left feet. Each mechanism is designed as a planar parallel manipulator with three degr...

Citation Formats

H. Zontul and A. Ersak, “OBJECT-ORIENTED REPRESENTATION OF A ROBOT MANIPULATOR,” 1994, p. 363, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/62703.