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SYSTEM IDENTIFICATION BASED INVERSE KINEMATICS ANALYSIS AND CONTROL OF A MULTI‐DOF ROAD SIMULATOR
Authors:
Abdullah Çakan1
, Ümit Önen2, Fatih Mehmet Botsalı1
1Konya Technical University, Faculty of Engineering and Natural Sciences, Mechanical Engineering
Department, Konya, Turkey
2Necmettin Erbakan University, Faculty of Engineering and Architecture, Mechatronics Engineering
Department, Konya, Turkey
Received: 20.06.2019.
Accepted: 27.09.2019.
Available: 30.09.2019.
Abstract:
This paper presents, system identification based inverse kinematics analysis and control of a multi‐DOF road simulator. Multi‐DOF road simulators are special devices which are widely used to perform road profiles to a vehicle in laboratory environments. In this paper a road simulator mechanism is virtually designed and inverse kinematics analysis is derived without using any mathematical expression. System identification method is used for inverse kinematics analysis and then controlled to perform desired positions of the vehicle wheel center point.
Keywords:
Road simulator, PID control, system identification, co‐ simulation, ADAMS, MATLAB
References:
[1] K. J. Dittmann, F. J. Albrigh, C. Leser, Validation of virtual prototypes via a virtual test laboratory. Korea Institute of Materials Science, 14 (3), 2003: 27-35.
[2] Internet source: Inverse Kinematics: https://en.wikipedia.org/wiki/Inverse_kinematics
[3] Alavandar, S., M. J. Nigam, Inverse kinematics solution of 3DOF planar robot using ANFIS. Int. J. of Computers, Communications & Control, 3, 2008: 150-155.
[4] A. Çakan, F. M. Botsali, Inverse kinematics analysis of a puma robot by using MSC Adams, VI International Conference Industrial Engineering and Environmental Protection (IIZS 2016), 13-14 October, 2016, Zrenjanin, Serbia, pp.274-277.
[5] D. Pham, M. Castellani, A. Fahmy, Learning the inverse kinematics of a robot manipulator using the bees algorithm, 6th IEEE International Conference on Industrial Informatics, IEEE, 13-16 July 2008, Daejeon, South Korea, pp.493-498: IEEE. http://dx.doi.org/10.1109/INDIN.2008.4618151
[6] L.-X. Wei, H.-R. Wang, Y. Li, A new solution for inverse kinematics of manipulator based on neural network, Proceedings of the 2003 International Conference on Machine Learning and Cybernetics, IEEE, Vol.2, 5 November 2003, Xi’an, China, pp.1201-1203: https://doi.org/10.1109/ICMLC.2003.1259668
[7] S. Engleder, Time-optimal motion planning and control of an electrohydraulically actuated toggle mechanism. Mechatronics, 17 (8), 2007: 448-456. https://doi.org/10.1016/j.mechatronics.2007.05.003
[8] S. M. C. Netto, M.S. Dutra, A. Evsukoff, Fuzzy systems to solve inverse kinematics problem in robots control: application to an hexapod robots’ leg, in Proceedings. Vol.1. Sixth Brazilian Symposium on Neural Networks, IEEE, 2000, pp. 150-155. https://doi.org/10.1109/SBRN.2000.889730
[9] Internet source: MTS Model 329 Road Simulators: https://www.mts.com
[10] S. İlgen, A. Durdu, E. Gülbahçe, A. Çakan, Sliding Mode Control of a Two-link Robot Manipulator Using Adams & Matlab Software, 6th International Conference on Control Engineering & Information Technology (CEIT), IEEE, 25-27 October 2018, Istanbul, Turkey, pp.1-4.
[11] L. Ljung, System identification toolbox: User’s guide. The MathWorks, Inc., 1995.
[12] K. J. Åström, T. Hägglund, PID controllers: theory, design, and tuning. Instrument society of America Research Triangle Park. NC, 1995.
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0)
Volume 9
Number 3
September 2024
Last Edition
Volume 9
Number 3
September 2024
How to Cite
A. Çakan, Ü. Önen, F.M. Botsalı, System Identification Based Inverse Kinematics Analysis and Control of a Multi-DOF Road Simulator. Applied Engineering Letters, 4(3), 2019: 98-101.
https://doi.org/10.18485/aeletters.2019.4.3.4
More Citation Formats
Çakan, A., Önen, Ü., & Botsalı, F. M. (2019). System Identification Based Inverse Kinematics Analysis and Control of a Multi-DOF Road Simulator. Applied Engineering Letters, 4(3), 98–101. https://doi.org/10.18485/aeletters.2019.4.3.4
Çakan, Abdullah, et al. “System Identification Based Inverse Kinematics Analysis and Control of a Multi-DOF Road Simulator.” Applied Engineering Letters, vol. 4, no. 3, 2019, pp. 98–101, https://doi.org/10.18485/aeletters.2019.4.3.4.
Çakan, Abdullah, Ümit Önen, and Fatih Mehmet Botsalı. 2019. “System Identification Based Inverse Kinematics Analysis and Control of a Multi-DOF Road Simulator.” Applied Engineering Letters 4 (3): 98–101. https://doi.org/10.18485/aeletters.2019.4.3.4.
Çakan, A., Önen, Ü. and Botsalı, F.M. (2019). System Identification Based Inverse Kinematics Analysis and Control of a Multi-DOF Road Simulator. Applied Engineering Letters, 4(3), pp.98–101. doi:10.18485/aeletters.2019.4.3.4.
Journal Menu
Archive
SYSTEM IDENTIFICATION BASED INVERSE KINEMATICS ANALYSIS AND CONTROL OF A MULTI‐DOF ROAD SIMULATOR
Authors:
Abdullah Çakan1
, Ümit Önen2, Fatih Mehmet Botsalı1
1Konya Technical University, Faculty of Engineering and Natural Sciences, Mechanical Engineering
Department, Konya, Turkey
2Necmettin Erbakan University, Faculty of Engineering and Architecture, Mechatronics Engineering
Department, Konya, Turkey
Received: 20.06.2019.
Accepted: 27.09.2019.
Available: 30.09.2019.
Abstract:
This paper presents, system identification based inverse kinematics analysis and control of a multi‐DOF road simulator. Multi‐DOF road simulators are special devices which are widely used to perform road profiles to a vehicle in laboratory environments. In this paper a road simulator mechanism is virtually designed and inverse kinematics analysis is derived without using any mathematical expression. System identification method is used for inverse kinematics analysis and then controlled to perform desired positions of the vehicle wheel center point.
Keywords:
Road simulator, PID control, system identification, co‐ simulation, ADAMS, MATLAB
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0)
Volume 9
Number 3
September 2024
Last Edition
Volume 9
Number 3
September 2024