Fen Bilimleri Enstitüsü

Permanent URI for this communityhttps://hdl.handle.net/20.500.12416/30

Browse

Browsing Fen Bilimleri Enstitüsü by Author "Abdaljawad Abdaljawad, Harith Mahdi"

Filter results by typing the first few letters
Now showing 1 - 1 of 1
  • Item
    Citation Count: Abdaljawad Abdaljawad, Harith Mahdi (2016). Feedback lineariztion control of flexible joint parallel manipulators by solving singular acceleration level differential equations/Singüler ivme seviyesindeki diferansiyel denklemleri çözmek suretiyle esnek mafsallı paralel manipülatörlerin kontrolü. Yayımlanmış yüksek lisans tezi. Ankara: Çankaya Üniversitesi, Fen Bilimleri Enstitüsü.
    Feedback lineariztion control of flexible joint parallel manipulators by solving singular acceleration level differential equations
    (2016) Abdaljawad Abdaljawad, Harith Mahdi; Çankaya Üniversitesi, Fen Bilimleri Enstitüsü, Makine Mühendisliği Bölümü
    This study utilizes a certain algorithm where joint drives flexibility is presented for solving singular set of differential equations by specified implicit numerical integration method that is called Backward Euler Formula for more advanced order derivative information. The reason for using such a procedure is that there is singularity presence at the acceleration level inverse dynamics equations because the control torques can't perpetuate a direct effectiveness at the end-effector accelerations as a result of the elastic media. The trajectory tracking control law is utilized for a 3R (revolute joint), three legs planar parallel manipulator. This law linearizes and decouples the system which leads to achieve asymptotic stability by the means of feeding back the positions and velocities of the actuated rotors and joints. The desired path of the end-effector is chosen for the sake of singularity avoidance.