İki Serbestlik Derecesine Sahip Endüstriyel Bir Robotun Kayan Kipli Kontrol Yöntemi ile Kontrolünün Gerçek Zamanlı Uygulaması

Bu çalışmada, iki serbestlik derecesine sahip bir endüstriyel robot kolunun analizi, tasarımı ve gerçekzamanlı açısal yörünge takip kontrolü gerçekleştirilmiştir. Sistemin tanımlanan yörüngeyi en iyi doğrulukta takipedebilmesi için klasik oransal-integral-türev denetleyicisi (PID) ile doğrusal olmayan Kayan Kipli Kontrol (SMC)yöntemlerinden yararlanılmıştır. Doğrusal olmayan Kayan Kipli Kontrol tekniği, robotun tam dinamik modelinigöz önüne aldığından dolayı, manipülatörün yörünge izleme performansını arttırabilmektedir. Önerilen sistem içiniki farklı kontrol yöntemi gerçek zamanlı olarak uygulanmıştır. Yapılan gerçek zamanlı yörünge izleme performansdeneylerinden elde edilen sonuçlara göre, Kayan Kipli Kontrol yönteminin sistemdeki belirsizliklere ve bozucuetkilere karşı gürbüz bir kontrol yöntemi olmasından dolayı bu kontrol tekniğinin klasik bir PID denetleyicisinegöre, robotik manipülatörün yörünge izleme performansını arttırdığı kanıtlanmıştır.

Anahtar Kelimeler:

Kayan kipli kontrol, PID kontrol, robot kontrol, yörünge kontrol

Real-Time Implementation of Sliding Mode Control Technique for Two-DOF Industrial Robotic Arm

This study presents a real-time implementation of the angle trajectory tracking control for the twoDOF industrial robotic manipulators. For real-time trajectory tracking control, the classical proportional–integral–derivative (PID) control and the nonlinear Sliding Mode Control techniques have been considered. The SMCtechnique takes into account the complete dynamic model of the two DOF robot to increase the trajectory trackingperformance of the manipulator. The experimental results demonstrate that the nonlinear SMC method has improvedthe trajectory tracking performance compared with the PID method.

Keywords:

PID control, robot control, sliding mode control, trajectory control,

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