Yazar "Abut, Tayfun" seçeneğine göre listele

Listeleniyor 1 - 3 / 3
  • [ X ]
    Öğe
    DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM
    (2018) Hüseyinoğlu, Mesut; Abut, Tayfun
    Robotic is a relatively young field of modern technology that exceedstraditional engineering boundaries. Control of the robots is important due tothe fact that it has a usage area in many areas. In this study, modelling andcontrol of two degrees of freedom (2-DOF) robotic arm were carried out.Lagrange-Euler method was used to obtain the dynamic equations of therobot. The system was controlled in the simulation environment. Sliding-ModeControl (SMC) and Proportional-Integral-Derivative (PID) control methodswere proposed to control the 2 DOF robotic arm. The saturation function isused for the chattering problem of the sliding mode control method. Bothprocess noise and measurement noise have been applied to control the robotin conditions close to the actual ambient conditions. The control methodsapplied according to the results of the simulation environment were comparedand the results were examined.
  • [ X ]
    Öğe
    Modal Analysis of a Clamped-Clamped U Frame Structure
    (Muş Alparslan Üniversitesi, 2019) Hüseyinoğlu, Mesut; Abut, Tayfun
    Determining of dynamic behaviours of the many machine elements used in the industry is an important issue in terms of the safe operation of the structure and the performance of the machine. Modal analysis method is widely used to determine the dynamic properties of the structures. In this study, theoretical and experimental modal analyses of a clamped-clamped U frame. Theoretical modal analysis is performed using ANSYS programme. Experimental modal analysis is performed with OROS Or36 vibration analyser and OROS modal analysis software. The results obtained from experimental and theoretical studies were compared and it was found that the model created in ANSYS successfully represented the experimental model.
  • [ X ]
    Öğe
    MODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT
    (Kafkas Üniversitesi, 2019) Abut, Tayfun; Huseyinoğlu, Mesut
    Mobile robots have an unlimited workspace, unlike conventional fixed to the robot. Therefore, they are frequently studied from past to present. In this study, it is aimed to model wheeled a mobile robot(WMR) and realize optimal trajectory tracking control. The mathematical model of the robot was obtained. The Linear Quadratic Regulator (LQR) method, one of the optimum control methods for controlling the robot has been proposed. The Q and R parameters affecting the performance of the proposed control method were obtained by using the Firefly optimization algorithm. Both process noise and measurement noise have been added to control the robot in conditions close to the actual ambient conditions. As a result, in order to demonstrate the validity of the obtained model and the proposed control method, the robot was performed control in the simulation environment. The obtained results were given graphically and the results were examined.