Abdullah Çakan

Abdullah Çakan
Konya Technical University · Department of Mechanical Engineering

PhD Candidate

About

31
Publications
53,230
Reads
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121
Citations
Introduction
Additional affiliations
June 2018 - present
Konya Technical University
Position
  • Research Assistant
August 2011 - July 2018
Selcuk University
Position
  • Research Assistant
Education
September 2010 - July 2013
Selcuk University
Field of study
  • Mechanical engineering
September 2005 - June 2010
Selcuk University
Field of study
  • Mechanical Engineering

Publications

Publications (31)
Article
Full-text available
In this study, position control of a SCARA robot manipulator is investigated using the sliding mode control (SMC) method based on parameter optimization using The Bees Algorithm. The modeling the SCARA manipulator is conducted in MSC Adams and the control implementation is carried out in MATLAB software. The numerical model of the SCARA manipulator...
Article
Full-text available
Bu çalışmada, bir robot kolun konum kontrolü için PID kontrol parametreleri Genetik algoritma (GA) ve Arı Algoritması (AA) kullanılarak belirlenmiştir. Robot kolun dinamik ve kinematik denklemleri elde edilerek matematiksel modeli oluşturulmuştur. GA ve AA ile PID kontrol parametreleri belirlenirken minimum konum hatası sağlanabilmesi amaçlanmıştır...
Article
Full-text available
The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics. A nonlinear controller is needed to control a system with these characteristics. In addition, there are disturbances and parameter uncertainty issues to be solved in the inverted pendulum system. There...
Article
Full-text available
The research proposed an alternative controller to control the Direct Current (DC) Motor using a sliding mode controller (SMC) in Matlab Simulink simulation and Arduino hardware implementation. The proposed controller, SMC, was designed using the system model (equivalent control) and Lyapunov control design (also to prove the stability). The slidin...
Article
Full-text available
This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (...
Conference Paper
Full-text available
Artificial potential field (APF) is the effective real-time guide, navigation, and obstacle avoidance for UAV Quadrotor. The main problem in APF is local minima in an obstacle or multiple obstacles. In this paper, some modifications and improvements of APF will be introduced to solve one-obstacle local minima, two-obstacle local minima, Goal Not Re...
Article
Full-text available
In this study, modeling and LQR control of a reaction wheel inverted pendulum system is described. The reaction wheel inverted pendulum model is created by using a 3D CAD platform and exported to Simscape Multibody. The multibody model is linearized to derive a state-space representation. A LQR (Linear-quadratic regulator) controller is designed an...
Conference Paper
Full-text available
Özet-Bu çalışmada, iki linkli düzlemsel bir robot manipülatörün bozucu etki altında yörünge kontrolü yapılmıştır. ADAMS yazılımı vasıtasıyla manipülatörün sanal bir prototipi oluşturulmuştur. Ayrıca, sistem için gerekli olan kontrolcü tasarımı MATLAB/Simulink ortamında gerçekleştirilmiştir. Sistemin simülasyonu ise MATLAB ve ADAMS yazılımlarının eş...
Conference Paper
Full-text available
In this study, control of a reaction wheel inverted pendulum system is modelled in virtual prototyping environment is proposed. Virtual prototype of the reaction wheel inverted pendulum is created using several softwares. Firstly, the system is created by using SolidWorks and imported to MSC Adams, afterwards the control plant model is exported to...
Article
Heat transfer and turbulent flow characteristics between the ribbed plates have been numerically studied in the present paper. The ribs with the rectangular cross-section have been placed on the top and the bottom plates of the duct, symmetrically. It is assumed that the fluid at 300 K has entered the system while the walls kept at 400 K. All numer...
Article
Full-text available
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 i...
Article
Full-text available
In this study, topology optimization of a jet engine bracket which was proposed from GE Aviation challenge for improving the brackets is presented using finite element analysis (FEA). The minimum mass, maximum equivalent stress and first natural frequency are selected for the objective functions to topology optimization. Then, topology optimization...
Article
Full-text available
The development and improvement of control techniques has attracted many researchers for many years. Especially in the controller design of complex and nonlinear systems, various methods have been proposed to determine the ideal control parameters. One of the most common and effective of these methods is determining the controller parameters with o...
Conference Paper
Full-text available
This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software togeth...
Conference Paper
Full-text available
In this study, buckling analyzes of auxiliary cylinders and ram cylinder which are the most important parts of industrial 300 tons H-type hydraulic press are realized for safety factor calculations. For this purpose; linear buckling analyzes of cylinder rods of auxiliary cylinder and ram cylinder are performed by using finite element method. As a r...
Article
Full-text available
In this study, buckling analyzes of auxiliary cylinders and ram cylinder which are the most important parts of industrial 300 tons H-type hydraulic press are realized for safety factor calculations. For this purpose; linear buckling analyzes of cylinder rods of auxiliary cylinder and ram cylinder are performed by using finite element method. As a r...
Article
Full-text available
Genetic algorithm based optimization of a linear quadratic regulator (LQR) controller which is designed for position and sway control of an overhead crane is presented in this study. Equations of motion of two degrees of freedom (DOF) crane system are derived by using Lagrange formulation and presented as state-space model. A LQR controller is desi...
Article
Full-text available
Development of new control methods and the improvement of existing control techniques have been interest of researchers for many years. Inverted pendulum systems have been used to test the performance of various control methods in many studies due to their unstable and nonlinear structures. In this work, the use of Particle Swarm Optimization algor...
Article
Full-text available
This work presents a different approach to inverse kinematics analysis of a PUMA robot. PUMA robot is an industrial robot arm with open chain mechanism that is used in different purposes. PUMA robot has a complicated inverse kinematics expressions that needs to be solved. In this paper, the inverse kinematics problem is solved by using MSC ADAMS in...
Article
Full-text available
This research is aimed at developing a multi-body simulation model and balancing control of a single-wheeled inverted pendulum. A virtual prototype of the system has been built by using Adams software and it is simulated in both Matlab and Adams software together. The Adams model has two inputs (disturbance and control) and two outputs (pendulum an...
Conference Paper
Full-text available
This research is aimed at developing a multi-body simulation model and control of an inverted pendulum. A virtual prototype of the inverted pendulum is built by using MSC Adams software and the plant model is exported to MATLAB. It is co-simulated in both MATLAB and MSC Adams softwares together. Proportional-integral-derivative (PID) controller is...
Article
Full-text available
In this work, a scara robot type 3D printer system is dynamically modeled and position control of the system is realized. For this aim; computer aided design model of three degrees of freedom robotic system is created using SolidWorks program then obtained model is exported to MATLAB/SimMechanics software for position control. Also mathematical mod...
Article
Full-text available
This paper presents a controller design for position and sway control of nonlinear gantry crane system. Two-dimensional crane system is modelled by using MSC ADAMS. A realistic model is obtained since there is no simplification and linearization on the model. All mass and inertia properties of system components were taken into consideration as were...
Conference Paper
Full-text available
This work presents a different approach to inverse kinematics analysis of a PUMA robot. PUMA robot is an industrial robot arm with open chain mechanism that is used in different purposes. PUMA robot has a complicated inverse kinematics expressions that needs to be solved. In this paper, the inverse kinematics problem is solved by using MSC ADAMS in...
Conference Paper
Full-text available
In this paper, developing and control of a wheeled self-balancing robot is described. Model of the wheeled self-balancing robot is created by using a computer aided design software and exported to Matlab/Simmechanics. The model is linearized for deriving state (A) and input (B) matrices and derived matrices are used while designing the controller....
Conference Paper
Full-text available
Abstract—In this study, an active vibration control system for controlling vehicle vibrations is proposedin order to improve drive vibrations and safety. Proposed system controls vehicle vibrations caused by road profile by utilizing a linear actuator. The mathematical model of the quarter car model is derived and transferred to MATLAB/Simulink sof...
Conference Paper
Full-text available
In this study, design and control of a lower extremity exoskeleton that supports walking of load carrying human is realized and a prototype of developed system is constructed. Transmission of minimum amount of the back load to the user is targeted during the design process. In this context, kinematic design of the exoskeleton system is accomplished...
Article
Full-text available
Ensuring vehicle drive comfort and securing drive safety are the leading topics among the most interested issues for researchers in vehicle dynamics area. In this paper, a method utilizing a linear actuator is proposed for active control of the vehicle vibrations which are caused by road profile, intending to improve drive comfort and safety of roa...
Article
Full-text available
Lower extremity exoskeletons are wearable robot manipulators that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications. This paper presents contro...
Article
Full-text available
Exoskeletons are used in rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications as well. This paper presents to design of a lower-extremity exoskeleton assisting walking of a load carrying human. Proposed exoskeleton system is designed to be appropriate mechanism with human lower extremit...

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