3 serbestlik derecesine sahip (RRR) robotun yörünge planlaması ve uygulaması

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.