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Neuroboscope sisteminin model tabanlı sınaması
(Eskişehir Osmangazi Üniversitesi, 2016)
NeuRoboScope projesinde, endoskopik hipofiz cerrahisinde kullanılan optik-kamera sisteminin, cerrahın kullandığı cerrahi aletleri takip ederek yönlendirilmesini amaçlayan emniyet kritik bir sistemin tasarlanması amaçlanmıştır. ...
Cerrahın anlık yönlendirilebildiği robot yardımlı endoskop kontrol sistemi mimarisi - NeuRoboScope
(Boğaziçi Üniversitesi, 2018-04-12)
Bu bildiride ele alınan çalışmada endoskopik hipofiz cerrahisinde kullanılan optik-kamera sistemini, cerrahın anlık isteklerini takip ederek yönlendirilmesine izin verecek robotik sistem geliştirilmektedir. Cerrah kendisi ...
A dynamic model free observer based output feedback tracking control of robot manipulators in task-space
(Institute of Electrical and Electronics Engineers, 2018)
This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis ...
Charge feedback-based robust position tracking control for piezoelectric actuators
(Institution of Engineering and Technology, 2012-03)
n this study, the Coleman-hysteresis model is utilised in the piezoelectric actuator (PZTA) dynamic model and a non-linear robust control strategy is then developed to actively control the displacement of the PZTA effective ...
A robust tracking controller for dynamically positioned surface vessels with added mass
(IEEE, 2014)
This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust ...
Neural network based repetitive learning control of robot manipulators
(IEEE, 2017)
Control of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a ...
Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements
(IEEE, 2015)
In this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for ...
On null-space control of kinematically redundant robot manipulators
(IEEE, 2016-01)
In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce ...
Design and development of an educational desktop robot R3D
(Wiley, 2017-03)
Robotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields ...
Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach
(IEEE, 2015)
This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring ...
