Motion modelling and time-optimal trajectory planning for an industrial robot

Download
047364.pdf
1995
Ütüklerli, Hüseyin
Show full item record
89
views
85
downloads
https://hdl.handle.net/11511/9645
Graduate School of Natural and Applied Sciences, Thesis

Suggestions

Motion control of constrained systems considering their actuation-related singular configurations
Özgören, Mustafa Kemal (2001-01-01)
In this paper, the constrained motion control of a normally unconstrained mechanical system is investigated. As far as its motion control is concerned, such a system will have a redundancy in its actuators due to the reduction caused in its number of degrees of freedom by the presence of the constraints. Four methods are described in order to determine the actuator and constraint forces. The first three of these methods necessitate using all the actuators and the fourth method is applicable in a case where ...
Motion analysis of a particle on vibratory conveyors.
Korkusuz, Ertaç; Özgüven, Hasan Nevzat; Department of Mechanical Engineering (1983)
Electromagnetic simulation and optimization of an electromagnetic launcher
Ceylan, Doğa; Keysan, Ozan; Department of Electrical and Electronics Engineering (2018)
Electromagnetic launcher (EML) is an electromagnetic accelerator which uses electrical pulse power instead of conventional gunpowder. A large amount of electric current in the pulse waveform flows in the rails and armature. This current creates large magnetic field between rails. As a result of Lorentz force, armature and projectile accelerate. In this study, finite element (FE) model of an EML which includes both pulsed power supply (PPS) circuits with 2~MJ total electrical energy and barrel with 3~m lengt...
Motion estimation using complex discrete wavelet transform
Sarı, Hüseyin; Severcan, Mete; Department of Electrical and Electronics Engineering (2003)
The estimation of optical flow has become a vital research field in image sequence analysis especially in past two decades, which found applications in many fields such as stereo optics, video compression, robotics and computer vision. In this thesis, the complex wavelet based algorithm for the estimation of optical flow developed by Magarey and Kingsbury is implemented and investigated. The algorithm is based on a complex version of the discrete wavelet transform (CDWT), which analyzes an image through blo...
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...
Citation Formats
H. Ütüklerli, “Motion modelling and time-optimal trajectory planning for an industrial robot,” Middle East Technical University, 1995.
METU IIS - Integrated Information Service open@metu.edu.tr