Eksik tahrikli manipülatörlerin durum geri beslemeli kontrolü

Underactuated manipulators are widely used in robotic and mechatronic applications. Control of underactuated mechanical systems is difficult since they have fewer control inputs (actuators) than degrees of freedom. This thesis considers a two-degree-of-freedom manipulator with one active joint at shoulder and moves on horizontal plane. Controlling the manipulator in horizontal plane is another challenging work since the gravity has no effect on free joint of manipulator. To solve the control problem a nonlinear state feedback controller is developed. Partial feedback linearization technique is used for controlling each joint angle position and in order to control both joints simultaneously a switching control algorithm is adopted to the control system. Designed control system is applied to the manipulator in simulations and for various initial conditions, controlled system performance is observed. Furthermore, the same controller is implemented to real-time prototype of manipulator and applicability of controller to a real system is tested. In both simulation and real-time implementation satisfactory results are obtained. Proposed control system moves the manipulator links to desired positions in a short time interval and input torque needed is small enough to apply the controller to a real system. Results also show that we achieve position control objective with small steady-state errors which are in an acceptable range.