Görüntüleme
8
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.
HAPTIC-TELOPERATION SYSTEMS are working in very difficult environments, so these systems are faced with many problems in control. Speed and power control is one of the difficult problems for controlling these systems due to linear behaviors and changing environmental conditions over time. In this study, a two-way control of the captive-teleoperation system was carried out by adding both processing and measurement and environmental noise to the control of the system closely to the actual conditions. The movement equations of the system consisting of the main (master) and dependent (slave) robots of a single freedom degree have been obtained. The system has been tested by the performance criteria by applying the PID control method in a filtered and unfiltered way. The results obtained by the study have been examined and evaluated.
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.
Alan : Fen Bilimleri ve Matematik; Mühendislik; Ziraat, Orman ve Su Ürünleri
Dergi Türü : Uluslararası
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