İki kollu esnek manipulatörlerde yörünge kontrolü

Bu çalışmada, iki kollu esnek bir manipülatörün yörünge kontrolü ele alınmıştır. Rijit cisim dinamiği kullanılarak elde edilen kinematik ve kinetik büyüklükler, esnek cismin uç nokta yer değiştirmesini bulmada kullanılmıştır. Sonlu elemanlar metoduyla modellenmiş olan manipülatörün doğal frekansları, mod şekilleri ve uç noktasının sapması modal analiz metoduyla hesaplanmıştır. Kontrol için herbir örnekleme anında yörünge üzerindeki uç noktanın sapma miktarı, hızı ve ivmesi farklı kontrol katsayılarıyla çarpılarak kollara uygulanan torklar belirlenmiştir. Farklı kontrol katsayıları kullanılarak elde edilen sonuçlar karşılaştırılmıştır. Yapılan çalışma sonunda uç noktanın sapma miktarının bu metodla önemli ölçüde azaldığı görülmüştür.

Trajectory control of two-arm flexible manipulators

In this study, trajectory control of a two-arm flexible robot manipulator is investigated. The kinematic and kinetic parameters derived by the rigid body dynamics are used in the evaluation of end-point deformation of the flexible body. Finite element method is employed in obtaining the mathematical model. Natural frequencies, mode shapes and end-point deflections of the manipulator are calculated by modal analysis. The end-point deflection, velocity and acceleration are multiplied by different control gain constants in order to find the hub torques, which are the inputs of the system. The results obtained by different control gain constants are compared. At the end of the study, it is concluded that it is possible to decrease the deformation amplitude of the end point of the manipulator significantly by the method presented.

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