Model predictive trajectory tracking control of 2 DoFs SCARA robot under external force acting to the tip along the trajectory

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dc.authorid0000-0001-7463-5867en_US
dc.authorid0000-0002-1798-1250en_US
dc.authorid0000-0002-3063-5635en_US
dc.authorid0000-0002-6130-6658en_US
dc.contributor.authorKara, Sertaç Emre
dc.contributor.authorYiğid, Osman
dc.contributor.authorŞen, Murat
dc.contributor.authorHüseyinoğlu, Mesut
dc.date.accessioned2023-07-04T06:23:13Z
dc.date.available2023-07-04T06:23:13Z
dc.date.issued2023en_US
dc.departmentDicle Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümüen_US
dc.description.abstractThe robot arms often follow a certain trajectory depending on the type of end effector with functions of spray-painting, arc welding, bonding or machining etc. Therefore, trajectory-tracking control is a very important issue in robot arm applications. Also, the robot must be able to follow the determined trajectory stably under the influence of external forces or machining forces it encounters in its operations. In this study, a Model Predictive Control (MPC) for trajectory tracking control of a 2 Degrees of Freedom (DoFs) Selective Compliant Assembly Robot Arm (SCARA) under an external force acting to the tip of the robot along the trajectory was performed. The effectiveness of the MPC method used has been demonstrated by simulation applications. According to simulation studies, successful results were obtained.en_US
dc.identifier.citationKara, S.E., Yiğid, O., Şen, M. ve Hüseyinoğlu, M. (2023). Model predictive trajectory tracking control of 2 DoFs SCARA robot under external force acting to the tip along the trajectory. Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi, 14(2), 325-332.en_US
dc.identifier.doi10.24012/dumf.1289356en_US
dc.identifier.endpage332en_US
dc.identifier.issn1309-8640
dc.identifier.issn2146-4391
dc.identifier.issue2en_US
dc.identifier.startpage325en_US
dc.identifier.urihttps://dergipark.org.tr/tr/download/article-file/3110169
dc.identifier.urihttps://hdl.handle.net/11468/12160
dc.identifier.volume14en_US
dc.institutionauthorHüseyinoğlu, Mesut
dc.language.isoenen_US
dc.publisherDicle Üniversitesi Mühendislik Fakültesien_US
dc.relation.ispartofDicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisien_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subject2 DoFs SCARA roboten_US
dc.subjectTrajectory controlen_US
dc.subjectModel predictive controlen_US
dc.titleModel predictive trajectory tracking control of 2 DoFs SCARA robot under external force acting to the tip along the trajectoryen_US
dc.typeArticleen_US

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