Alirıza Kaleli

Detailed Analysis of SCARA-Type Serial Manipulator on a Moving Base with LabView

Robotic manipulators on a moving base are used in many industrial and transportation applications. In this study, the modelling of a RRP SCARA-type serial manipulator on a moving base is presented. A Lagrange-Euler approach is used to obtain the complete dynamic model of the moving-base manipulator. Hence, the dynamic model of the manipulator and the mobile base are expressed separately. In addition, Virtual Instrumentation (VI) is developed for kinematics, dynamics simulation and animation of the manipulator combined with the moving-base system. Using the designed VI in LabView, the relationship between frequency of disturbances of the moving base and joint torques is investigated. The obtained results are presented in graphs.

A comparative study of two model-based control techniques for the industrial manipulator

In this paper, design, analysis and real-time trajectory tracking control of a 6-degree of freedom revolute spherical-spherical type parallel manipulator, actuated by six hybrid stepper motors, has been studied. Two different control approaches have been used to improve the trajectory tracking performance of the designed manipulator. The first approach considered a single input-single output (SISO) linear quadratic regulator (LQR) for trajectory tracking control of the manipulator. Another controller type based on a nonlinear sliding mode controller method has been utilized to take decoupled dynamic approximation model of the manipulator into account and to improve tracking performance of the manipulator. Real-time experimental results for the two different control techniques have been verified. Finally, according to the results, the nonlinear sliding mode controller method has improved the tracking performance of the designed manipulator.

Real-time trajectory tracking control for electric-powered wheelchairs using model-based multivariable sliding mode control

In this paper, real-time trajectory tracking control of an electric-powered wheelchair (EPW), actuated by two DC motors, has been designed, analysed and studied. Two different control approaches such as nonlinear SMC and the classical proportional–integral–derivative (PID) are employed to increase the tracking performance of the electric-powered wheelchair. A nonlinear SMC technique has been presented in order to consider the complete dynamic model of the EPW and so as to increase trajectory tracking performance of the EPW. In this study, realtime experimental application of the two different control methods has been realized. Lastly, in terms of the results, the nonlinear SMC technique has improved the trajectory tracking performance of the designed EPW.