Bulanık Mantık Esaslı Karar Destek Sistemi ile Robot Elin Kuvvet Kontrolü

Son yıllarda gelişen teknoloji ile robotlar üzerine yapılan çalışmaların ciddi oranda arttığı gözlenmektedir. Robotik sistemlerde robot el konusu, farklı ihtiyaçlar doğrultusunda farklı kullanım alanlarına yönelik olarak gelişmeye en açık çalışma alanlarından birisidir. Literatür çalışmaları incelendiğinde, robot el uygulamalarında karşılaşılan en büyük sorunun nesnelerin kavranma kuvvetinin kontrolü olduğu tespit edilmiştir. Bu sebeple robot elin nesnelere zarar vermeden kavrama işlemini gerçekleştirebilmesi için kavrama kuvvetinin kontrol sorunu çözülmelidir. Sunulan çalışmada nesnelere uygulanan kuvvetin kontrol probleminin çözümü için yapay zeka tekniklerinden biri olan bulanık mantık önerilmiştir. Önerilen yöntemde, robot el kavrama kuvvetini kullanıcının gönderdiği sinyal doğrultusunda belirlemektedir. Sistemin avuç içerisinde ve parmaklarının iç kısımlarında bulunan sensörler vasıtasıyla nesnelere uygulanan kuvvet ölçülmekte ve bu sensör ölçümleri kuvvet geri beslemesi olarak kullanılmaktadır. Ölçülen sensör verileri ve kullanıcı sinyali bulanık mantık kontrolör(karar destek sistemi) ile denetlenerek nesnenin kontrol sistemi tarafından belirlenen kuvvette stabil bir şekilde kavranması sağlanmaktadır. Geliştirilen kontrol yapısı oluşturulan sistemde uygulanmış ve kullanıcıdan gönderilen komut doğrultusunda hassas ve kararlı kavrama yapabildiği sunulan çalışma ile gösterilmiştir.

Fuzzy Logic Based Decision Support System for Force Control of Robot Hand

In recent years, it is observed that the studies on robotic systems have increased tremendously. In the field of robotic systems, the robotic hand based research is one of the most popular fields due to wide range of application areas. It can be observed from a literature review of robot hand applications is that one of the main research topic in the area is on control of gripping force of the objects. Hence, the force feedback problem appears to be a challenge to be overcomed where the objective is to perform the grasping operation without damaging the objects being hold. In this study, Fuzzy Logic based artificial intelligence techniques has been proposed as a solution of the problem of force control problem mentioned. In proposed method, the robot hand determines the grip force by the direction of the signal sent by the user. The force applied to the objects is measured by the sensors. These sensor measurements are then used as force feedback. The measured sensor data and the user input signals are controlled by a fuzzy logic control system (decision support system) to ensure that the object is grasped in a stable manner. The developed control structure is implemented and it proven that the user is able to grasp sensitively and decisively by the direction of the control command sent by the user.

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