Ortam Şartlarının Bir Haptik-Teleoperasyon Sisteminin İki-Yönlü Kontrolü Üzerindeki Etkisi

Haptik-teleoperasyon sistemleri oldukça zorlu ortamlarda görev yapmakta bundan dolayı bu sistemlerin kontrolünde birçok problemlerle karşılaşılmaktadır. Hız ve kuvvet kontrolü doğrusal davranışlar göstermeyen ve zamanla değişen ortam şartları nedeniyle bu sistemlerin kontrolü için zorlu problemlerden biridir. Bu çalışmada gerçek şartlara yakın bir şekilde sistemin kontrolü için hem işlem ve ölçüm hem de ortam gürültüsü eklenerek haptik-teleoperasyon sistemin iki yönlü kontrolü gerçekleştirilmiştir. Tek serbestlik dereceli ana(master) ve bağımlı(slave) robotlardan oluşan sistemin hareket denklemleri elde edilmiştir. Sisteme filtreli ve filtresiz bir şekilde PID kontrol yöntemi uygulanarak performansı kriterlere göre incelenmiştir. Yapılan çalışmalar sonucunda elde edilen sonuçlar incelenmiş ve irdelenmiştir.

Anahtar Kelimeler:

Haptik-Teleoperasyon, Hareket Denklemleri, Ortam Şartları, PID

Effect of Environment Conditions on Bilateral Control of a Haptic-Teleoperation System

Haptic-teleoperation systems work in very tough environments, so many problems are encountered in the control of these systems. Speed and force control are challenging problems for the control of these systems due to the time-varying environmental conditions that do not display linear behavior. In this study, bilateral control of the haptic-teleoperation system was performed by adding both process and measurement and environmental noise to control the system close to real conditions. The equations of motion of the system consisting of a single degree of freedom (master) and slave robots have been obtained. PID control method was applied to the system with and without filter, and its performance was examined according to criteria. The results obtained as a result of the studies conducted were examined and investigated.

Keywords:

Haptic-Teleoperation, Equation of Motion, Environment Conditions, PID,

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