MALZEME YÜKLEME AMAÇLI 6 EKSEN BİR ROBOT MANİPÜLATÖRÜN DİNAMİK PROGRAMLAMA İLE HAREKET OPTİMİZASYONU

Çevresel kaygılarına ek olarak enerji maliyetinin artışı, günümüz dünyasında enerji sarfiyatı önemli başlıklardan birisi haline gelmiştir. Bu bağlamda, şirketler de enerji sarfiyatlarını ve karbon ayak izlerini düşürme yönünde araştırmalar yapmaktadırlar. Üretim yapan bir şirket için bu konuda başarı elde etmenin bir yöntemi verimliliklerini arttırmaktan geçmektedir. Bu çalışmada, üretimde malzeme aktarımı görevi olan bir robot manipülatör, bilgisayar yardımıyla modellenmeye çalışılmış, model üzerinde dinamik programlama ile üretim kapasitesinin arttırılması, enerji sarfiyatının düşürülmesini sağlayan sistem parametreleri ile geliştirmeler sunulmaya çalışılmıştır.

Anahtar Kelimeler:

Robot manipülatör, hareket optimizasyonu, dinamik programlama, optimal kontrol

Motion Optimization of A 6 Axes Robot Manipulator Used for Material Handling Purposes via Dynamic Programming

Due to the increasing cost of energy besides the environmental concerns, energy consumption is one of the hot topic in today’s world. In this context, companies are searching for the ways to reduce their energy consumptions and their Carbon footprint. For a manufacturing company, one method to accomplish these is to increase their process efficiency. In this research, a production cell which contains a robot manipulator used for material handling purposes is tried to be modeled in computer environment, using dynamic programming over the computer model, system parameters increasing production capacity in addition to reducing the energy consumption and improvements depending on these are presented.

Keywords:

Robot manipulator, motion optimization, dynamic programming, optimal control,

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