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Esnek Uzuvlu Bir Manipülatörde Yapay Arı Kolonisi Algoritması ile Optimize Edilen Kontrolcü Parametreleri Etkilerinin İncelenmesi

Bu çalışmanın temel amacı, esnek uzuvlu manipülatörün kontrol torku ifadesinde yer alan parametrelerin etkilerinin incelenmesidir. Çalışmada ilk olarak, esnek uzuv varsayılan modlar metodu ile modellenmiştir. Ardından, kontrol torku ifadesi sistem enerjisine bağlı olarak elde edilmiştir. Esnek manipülatör için gerçekleştirilen kontrolde amaç, uzvun istenen konuma ulaşması ve hareket sırasındaki salınımların sönümlenmesi olarak belirlenmiştir. Bu amaç doğrultusunda, tork ifadesinde yer alan katsayı parametrelerinin belirlenmesinde Yapay Arı Kolonisi (ABC) Algoritması kullanılmıştır. MATLAB ortamında gerçekleştirilen simülasyonlar literatürde ilgili tork ifadesini kullanan bir çalışma ile karşılaştırılmıştır. Son olarak tork ifadesinde yer alan tüm katsayı parametreleri için simülasyonlar tekrarlanarak ilgili parametrelerin optimizasyona dahil edilme gerekliliği incelenmiştir.

Anahtar Kelimeler:

Esnek Manipülatör, optimizasyon, yapay arı kolonisi, kontrol

Investigation of Controller Parameters Effects for a Flexible Manipulator

The main objective of this study is to examine the effects of the parameters in the control torque expression of the flexible manipulator. First, the flexible manipulator is modelled based on Assumed Mode Method. Then, the control torque expression is obtained depending on the system energy. In the control performed for the flexible manipulator, the aim is determined as achieving the position objective of the flexible manipulator and damping the oscillations during the movement. For this purpose, Artificial Bee Colony (ABC) Algorithm is performed to determine the parameters in the torque expression. The simulations performed in MATLAB are compared with a study in the literature using the related torque expression. Finally, the simulations are repeated for all coefficient parameters in the torque expression and the necessity of including the relevant parameters in the optimization was examined.

Keywords:

flexible manipulator, optimisation, artificial bee colony, control,

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