24 research outputs found
Shooting Control Application from a Quadruped Robot with a Weapon System via Sliding mode Control Method
With the developing technological process, it is expected that the usage of robots will increase in defense systems as in every field. One of the main objectives of the robotic studies for the defense industry is to capture the targeted success under all kinds of disruptive effects with robotic systems and to present this technology to the service of the army. A weapon system with a single degree of freedom was placed on a quadruped robot. System’s dynamic behavior, which has 12 degrees of freedom and planar movements, is modeled mathematically. Simulations of the shots made to the fixed targets were carried out during the walking of the quadruped robot. The gun barrel stabilization was realized to achieve accurate shots under disruptive effects. The sliding-mode control method was used to perform the barrel stabilisation. In this study, it is shown that a quadruped robot with a weapon system can perform successful shots against fixed targets. MATLAB is used for simulations and the results are shown with figures, graphics, and tables
Human robot ınteraction network design with wearable wireless MIMU sensors for upper extremity exoskeleton robot
Bu araştırma kapsamında insan vücuduna uyumlu, insan hareketlerini destekleyen iki serbestlik dereceli
bir üst-ekstremite dış iskelet robot sisteminin kontrolü için giyilebilir kablosuz sensörler MIMU
(ivmeölçer, jiroskop) vasıtası ile insan robot etkileşim ağı tasarımı gerçekleştirilmiştir. Kişinin üst ve alt
kol uzuvlarına bağlı iki adet MIMU sensörden açısal ivmelenme, jiroskop ve manyetometre bilgileri
alınıp, AHRS (Attitude and Heading Reference Systems) algoritması ile bu sensör verileri bütünleştirilip
kişinin üst ekstremite hareketine ilişkilin (üst kol, alt kol) kuaternion yönelim matrisi hesaplanmıştır.
Kinematik analiz ile de kuaternion matrisi verileri kullanılarak omuz ve dirsek eklemlerine ait Euler
yönelim açıları (x, y, z eksenleri için) hesaplanmıştır. Geliştirilen etkileşim ağı ile laboratuvar olanakları
ile tasarlanan ve imalatı yapılan iki serbestlik dereceli prototip üst ekstremite dış iskelet robot kolun
gerçek zamanlı hareket kontrolü gerçekleştirilmiştir. Sonuç olarak, kullanıcı kişi kolunu hareket
ettirirken, dış iskelet robotta senkronize olarak aynı hareketi gerçekleştirmektedir.Within the scope of this research, human robot interaction network design was carried out by means
of wearable wireless sensors MIMU (accelerometer, gyroscope, magnetometer) for the control of a
two-degree upper-extremity exoskeletal robot system compatible with human body and supporting
human movements. Angular acceleration, gyroscope information was obtained from two MIMU
sensors connected to the upper and lower limbs of the subject, and AHRS (Attitude and Heading
Reference Systems) algorithm was integrated with these sensor data and the upper extremity
movement (upper arm, lower arm) quaternion orientation matrix was calculated. Euler orientation
angles (for x, y, z axes) of shoulder and elbow joints were calculated by using kinematic analysis. With
the developed interaction network, real time motion control of two degrees of freedom prototype
upper extremity exoskeleton robot arm which is designed and manufactured with laboratory facilities
was realized. As a result, the user performs the same movement synchronously in the exoskeleton robot
as the person moves the arm