İki düzlemsel robot kol iş birliği ile çalkalanmadan sıvı taşınımının kutup yerleştirme ve LQR kontrolü
Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi
Highlights: Graphical/Tabular Abstract Modeling and analysis of liquid transfer by dualarm cooperative robots Obtaining closedkinematic equations of dual-arm cooperative robot Utilizing Taylor Series Expansion function for linearizing of the system Nowadays, the usage areas and the roles of robots increase rapidly in daily life. Liquid transfer with robots is one of the topics which has recently been studied by researchers. Figure A. Dual-arm cooperative robot carrying liquid-filled
... ner without slosh Purpose: The specific objective of this study was to transfer a liquid-filled container without slosh by a dualarm cooperative robot. Theory and Methods: A set of constraints were determined for a dual-arm cooperative robot when grasp liquid-filled container. The dynamics of the liquid slosh which was modeled as a simple pendulum was obtained by Lagrange equation. Then the obtained nonlinear dynamics of the slosh was linearized by Extended Taylor Series functions. In this study, pole Placement and Linear Quadratic Regulator (LQR) control techniques were used to achieve highspeed transport of the liquid-filled container without slosh. Results: The results obtained from the analysis of liquid-filled container transfer are presented both control techniques (Pole placement and LQR) have been successful in suppression slosh of liquid during the transfer by the dualarm robot. Undesirable forces and moments due to liquid slosh that effect the performance of fast liquid transfer have been eliminated by these two techniques. Conclusion: Compared with pole placement control technique, LQR control technique has shown to be more successful in the elimination of liquid slosh. However, pole placement technique has managed to control the system in a shorter period than the LQR technique. In terms of control effort, LQR consumes less energy than pole placement.