Tayfun Abut and Servet Soyguder
This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of…
Abstract
Purpose
This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of the system in the presence of forces originating from human and environment interaction.
Design/methodology/approach
In case of uncertainties in the robot parameters that are utilized in teleoperation studies and when the environment where interactions take place is not known and when there is a time delay, very serious problems take place in system performance. An adaptation rule was created to update uncertain parameters. In addition to this, disturbance observer was designed for slave robot. Lyapunov function was used to analyze the system’s position tracking and stability. A visual interface was designed to ensure that the movements of the master robot provided a visual feedback to the user.
Findings
In this study, a visual interface was created, and position and velocity control was achieved utilizing teleoperation; the system’s position tracking and stability were analyzed using the Lyapunov method; a simulation was applied in a real-time environment, and the performance results were analyzed.
Originality/value
This study consisted of both simulation and real-time studies. The teleoperation system, which was created in a laboratory environment, consisted of six-degree-of-freedom (DOF) master robots, six-DOF industrial robots and six-DOF virtual robots.
Details
Keywords
Servet Soyguder and Tayfun Abut
This study attempts to control the movement of industrial robots with virtual and real-time variable time delay. The improved variable wave method was used for analyzing position…
Abstract
Purpose
This study attempts to control the movement of industrial robots with virtual and real-time variable time delay. The improved variable wave method was used for analyzing position tracking performance and stability of the system.
Design/methodology/approach
This study consists of both theoretical and real-time operations. Teleoperation systems that provide information about point or environment that people cannot reach and are one of the important robotic works that include the human–machine interaction technology were used to obtain the necessary data. Robots, as the simulated virtual environment to achieve real behaviors, were found to be important for the identification of damage that may occur during the tests performed by real robots and then in terms of prevention of errors identified in algorithm development stages.
Findings
The position and speed controls of the real–virtual–real robots consist of the teleoperation system. Also, in this study, the virtual environment was created; variable time delay motion control with teleoperation was performed and applied in the simulation and real-time environment; and the performance results were analyzed.
Originality/value
The teleoperation system created in the laboratory consists of a six-degree-of-freedom (dof) master robot, six-dof industrial robot and six-dof virtual robot. A visual interface is designed to provide visual feedback of the virtual robot’s movements to the user.
Details
Keywords
Tayfun Abut and Servet Soyguder
This paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.
Abstract
Purpose
This paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.
Design/methodology/approach
As inverted pendulum systems are structurally unstable and nonlinear dynamic systems, they are important mechanisms used in engineering and technological developments to apply control techniques on these systems and to develop control algorithms, thus ensuring that the controllers designed for real-time balancing of these systems have certain performance criteria and the selection of each controller method according to performance criteria in the presence of destructive effects is very helpful in getting information about applying the methods to other systems.
Findings
As a result, the designed controllers are implemented on a real-time and real system, and the performance results of the system are obtained graphically, compared and analyzed.
Originality/value
In this study, motion equations of a linear inverted pendulum system are obtained, and classical and artificial intelligence adaptive control algorithms are designed and implemented for real-time control. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods are used to control the system. Self-tuning PID-type fuzzy adaptive controller was used first in the literature search and success results have been obtained. In this regard, the authors have the idea that this work is an innovative aspect of real-time with self-tuning PID-type fuzzy adaptive controller.