MSc. Thesis Defense:Hakkı Baran Özdamar-
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  • MSc. Thesis Defense:Hakkı Baran Özdamar-

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Hakkı Baran Özdamar
Mechatronics Engineering, MSc. Thesis, 2016


Thesis Jury

Assoc. Prof. Kemalettin Erbatur (Thesis Advisor), Prof. Mustafa Ünel,

Assoc. Prof. Zeki Yağız Bayraktaroğlu



Date & Time: August 8th, 2016 –  12:00

Place: FENS G032

Keywords : contour tracking, force control, motion control, hybrid control, disturbance observer, contact estimation, industrial robotics





Robots in the industry are used for operations that are particularly dangerous or challenging to complete with high efficiency and precision for humans. These robots require extensive programming to achieve high level tasks and reprogramming to repeat the task in different environmental conditions. Introducing some level of autonomy for the robots is desired to decrease the burden on the programmer by enabling the robot to adapt to environmental changes and accomplish the required tasks with minimal human interaction. Contour tracking is a task that can be completed autonomously by a robot and assist in the completion of several dangerous and repetitive industrial operations in the process such as grinding, deburring, polishing and shape recovery. Hybrid control is a popular method for achieving contour tracking. This thesis presents a hybrid control that employs feedforward and integral force control in the contact normal direction; and dynamics based proportional velocity control with disturbance observer in the tangent direction. The effectiveness of the presented method has been validated and its superiority compared to conventional PI velocity control is proven experimentally. A simple and reliable method for contact estimation is also presented.