İki robot kol iş birliği ile çalkalanmadan sıvı taşınımın kutup yerleştirme ve LQR kontrolü

Günümüzde robotların günlük yaşamdaki kullanım alanları ve üstlendikleri roller hızla artmakta ve çeşitlilikgöstermektedir. Robotlar ile sıvı taşıma işlemi de son zamanlarda üzerinde çalışma yapılmaya başlanankonular arasındadır. Bu makalede, içi sıvı dolu bir kabın iki düzlemsel robot kolu işbirliğiyle çalkalanmadanve dökülmeden taşınması incelenmiştir. İki robotik kol herhangi bir nesneyi birlikte hareket ettirdiğinde,kinematik olarak kapalı bir zincir oluşur ve bu durum, ele alınan sistemin matematiksel olarak karmaşıklığınıartıran bir dizi kısıtlamaların ortaya çıkmasına neden olur. Bu çalışmada, sıvı çalkalanmasının doğrusalolmayan dinamiği, Genişletilmiş Taylor Serisi fonksiyonları ile doğrusalaştırılmıştır. Ardından, sıvı dolukabı çalkalanmadan, dökülmeden ve yüksek hızla taşımak için kutup yerleştirme (Pole Placement) vedoğrusal karesel düzenleyici (LQR) kontrol yöntemleri kullanılıp, bu iki yöntem sonuçları birbirleriyleteknik olarak karşılaştırılmıştır.

Pole placement and LQR control of slosh-free liquid transportation with dual-arm cooperative robot

Nowadays, the usage areas and the roles of robots increase rapidly in daily life. Liquid transfer with robots is one of the topics which has recently been studied by researchers. In this paper, the transport of a liquidfilled container without slosh by a planar dual-arm cooperative robot was investigated. When a dual-arm robot carries an object, a closed kinematic chain is formed and a set of constraints that increase the mathematical complexity of the system appear during the motion. In this study, the nonlinear dynamics of the liquid slosh was linearized by Extended Taylor Series functions. Then, Pole Placement and Linear Quadratic Regulator (LQR) control techniques were used to achieve high-speed transport of the liquid-filled container without slosh and pouring, and the results of two techniques were compared with each other.

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