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Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

100%
Adar N., Kozan R.
Acta Physica Polonica A
|
2016
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vol. 130
|
issue 1
269-271
EN
Robotics and its applications have become increasingly important in the field of manufacturing industry. Robot manipulators are effectively used for this purpose. Control of manipulators is very important, however, highly nonlinear and multi-input multi-output (MIMO) complex structure of manipulators make the control difficult. This paper presents two-degree of freedom PID controller scheme for a six-degree of freedom rigid robotic manipulator. Traditional PID controllers are widely used due to their simple control structure and ease of implementation in industry. However load disturbances and parametric variation affect the robustness of the controller. The performance of proposed two-degree of freedom PID controller is compared with the traditional PID controllers. Matlab-Simulink program is used for real-time implementation of the proposed method. Experimental results show that two-degree of freedom PID control is better than the traditional PID for manipulator control in real time.
2
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Real Time Visual Servoing of a 6-DOF Robotic Arm using Fuzzy-PID Controller

81%
Adar N., Egrisogut Tiryaki A., Kozan R.
Acta Physica Polonica A
|
2015
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vol. 128
|
issue 2B
B-348-B-351
EN
Vision based robot applications have taken a great deal of attention, with the development of electronic and computer technology. The visual feedback loop is very effective for improving the dexterity and flexibility. In this study, application of real time visual servoing approach is presented that enables a robot to robustly execute arm grasping and manipulation tasks. This task is decomposed on four stages a) finding object b) determining object's pose c) moving the robotic arm from an initial position towards the object d) grasping the object. The robot used in this work consists of an arm and head parts. The robotic arm has six degree of freedom, five degree of freedom are located at the arm while one degree of freedom is assigned to the gripper. Head has two degree of fredom which is pan-tilt platform. The image-based control strategy is designed using Fuzzy-PID controller. In this way, position error between target object and griper is minimized and the gripper can grasp the target object precisely. Real-time implementation of the proposed method is carried out using Matlab-Simulink. Experimental results show that, the developed design is valid to detect and grasp objects in real time.
3
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Prediction of Sheet Drawing Characteristics with Square Drawbead Elements Using Response Surface Methodology

81%
Tiryaki A., Kozan R., Adar N.
Acta Physica Polonica A
|
2015
|
vol. 128
|
issue 2B
B-344-B-347
EN
Drawbeads are often used in the sheet metal forming processes to provide a better control of the material flow into the die cavity. The drawbead restraint force (DBRF) and the exit thickness are two important sheet drawing characteristics to be determined for the selection and installation of the drawbead elements. This study presents the effects of drawbead geometry and sheet material on drawbead restraining force and thinning. Mathematical correlation between the drawbead geometry, sheet material and drawing characteristics was investigated by using Response Surface Methodology (RSM), which is a global approximation method ideally suited for solving highly nonlinear optimization problems. The proposed response surface model for DBRF and thinning showed a good correlation with the experimental data available in the literature. RSM could be considered as an alternative and practical technique to evaluate the sheet drawing characteristics. The method can also be applied to other sheet metal forming issue.
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