Path planning for 3 degree of freedom (RRR) robot and its application
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Dosyalar
Tarih
2020
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Aksaray Üniversitesi Fen Bilimleri Enstitüsü
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Bu çalışmada, 3 serbestlik derecesine sahip RRR robotun yörünge planlaması yapılmış ve 3d yazıcı ile üretilen model robot kol üzerinde uygulanmıştır. Yörünge planlaması yapılırken genetik algoritmalar kullanılarak zaman optimizasyonu yapılmıştır. Model olarak ilk üç eklemin Kartezyen uzayda konumu etkilemesi nedeniyle üç eklemi de döner eklem olan RRR yapıdaki robot kol kullanılmıştır. Robot kolun öncelikle ileri kinematik analizi yapılmıştır. İleri kinematik analiz yöntemi olarak en çok kullanılan analiz yöntemi olan Denativ-Hartenberg yöntemi seçilmiştir. İleri kinematik analiz sonucunda elde edilen bilgiler ile ters kinematik analiz yapılmıştır. Ters kinematik analiz sonucunda model robotun Kartezyen uzayda bir noktaya ulaşması için gerekli olan eklem değişkenlerini elde edilmiştir. Kinematik analizler robotun eklem uzayında yörünge planlamasını yapmak üzere gerçekleştirilmiştir. Robot kolun yörünge planlaması yapılırken hareketlerini en kısa sürede tamamlaması için genetik algoritmalar kullanılarak zaman optimizasyonu yapılmıştır. Eklem uzayında yörünge planlama sonucunda her bir eklem için elde edilen hız ve ivme denklemleri optimizasyonda amaç fonksiyonları olarak kullanılmıştır. Amaç fonksiyonunun sınırlarını robot kolun eklemlerinde kullanılan servo motorların hız ve ivme değerleri oluşturmuştur. Optimizasyon sonucunda her bir eklemin hareketini en kısa zamanda tamamlayabileceği süreler bulunmuştur. Model robot kol 3d yazıcıda üretilmiş ve deney seti oluşturulmuştur. Optimizasyon sonucunda elde edilen veriler deneysel çalışmalardan elde edilen veriler ile karşılaştırılmıştır. Bu çalışmanın sonuncunda genetik algoritmalar kullanılarak zaman optimizasyonu yapılmış ve her hangi bir robota uygulanabilecek hareketi en kısa sürede tamamlayan bir model oluşturulmuştur.
In this study, the path planning of the RRR robot with 3 degrees of freedom has been made and has been applied on the model robot arm produced with 3d printer. Time optimization has been made by using Genetic Algorithms during path planning. Since the first three joints affect the position in the Cartesian space, the robot arm with the RRR structure which has the three rotating joints, was used as the model. Firstly, the forward kinematic analysis of the robot arm was performed. Denativ-Hartenberg method, which is the most widely used analysis method, was chosen as the forward kinematic analysis method. Inverse kinematic analysis was performed with the information obtained from the forward kinematic analysis. As a result of inverse kinematic analysis, the joint variables required for the model robot to reach a point in Cartesian space were obtained. Kinematic analyzes were performed to planning path in the joint space of the robot. Time optimization was performed by using Genetic Algorithms in order to complete the movements of the robot arm as soon as possible while planning path. The velocity and acceleration equations obtained for each joint as a result of path planning in joint space were used as objective functions in optimization. The limits of the objective function are the velocity and acceleration values of the servo motors used in the joints of the robot arm. As a result of optimization, it was found that each joint can complete the movement as soon as possible. The model robot arm was produced with the 3d printer and the experimental set was created. The data obtained as the result of optimization were compared with the data obtained from experimental studies. At the end of this study, time optimization was made by using Genetic Algorithms and a model which completed the movement in the shortest time was created that could be applied to any robot.
In this study, the path planning of the RRR robot with 3 degrees of freedom has been made and has been applied on the model robot arm produced with 3d printer. Time optimization has been made by using Genetic Algorithms during path planning. Since the first three joints affect the position in the Cartesian space, the robot arm with the RRR structure which has the three rotating joints, was used as the model. Firstly, the forward kinematic analysis of the robot arm was performed. Denativ-Hartenberg method, which is the most widely used analysis method, was chosen as the forward kinematic analysis method. Inverse kinematic analysis was performed with the information obtained from the forward kinematic analysis. As a result of inverse kinematic analysis, the joint variables required for the model robot to reach a point in Cartesian space were obtained. Kinematic analyzes were performed to planning path in the joint space of the robot. Time optimization was performed by using Genetic Algorithms in order to complete the movements of the robot arm as soon as possible while planning path. The velocity and acceleration equations obtained for each joint as a result of path planning in joint space were used as objective functions in optimization. The limits of the objective function are the velocity and acceleration values of the servo motors used in the joints of the robot arm. As a result of optimization, it was found that each joint can complete the movement as soon as possible. The model robot arm was produced with the 3d printer and the experimental set was created. The data obtained as the result of optimization were compared with the data obtained from experimental studies. At the end of this study, time optimization was made by using Genetic Algorithms and a model which completed the movement in the shortest time was created that could be applied to any robot.
Açıklama
Anahtar Kelimeler
İleri Kinematik, Ters Kinematik, Yörünge Planlama, Genetik Algoritmalar, Zaman Optimizyonu, 3d Yazıcı, RRR Robot Kol
