Yazar "Golubovic, Edin" seçeneğine göre listele

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    Modular and reconfigurable desktop microfactory for high precision manufacturing
    (Springer London Ltd, 2017) Zhakypov, Zhenishbek; Uzunovic, Tarik; Nergiz, Ahmet Ozcan; Baran, Eray A.; Golubovic, Edin; Sabanovic, Asif
    Sub-millimeter scale devices are developing rapidly taking smaller, smarter, and more precise forms. This is achieved thanks to advancements in micro-manufacturing tools and techniques. For micro-production, a miniaturization of the machinery is a prominent idea that has numerous benefits in terms of material usage, precision, transportation, modularity, and reconfigurability. In this paper, a modular and reconfigurable desktop microfactory for high precision machining and assembly of sub-millimeter scale mechanical parts is presented and experimentally validated. The proposed system is built based on important functional and performance requirements, including miniaturization, high precision operation, modular and reconfigurable design, parallel processing capability, ease of installation, and transportation. The miniature factory consists of five mini processing units; two parallel kinematic robots for manipulation, the laser micro-machining system, the camera system for detection and inspection, and the rotational conveyor system for micro-part delivery. Different configurations of the system layout are proposed taking advantage of their modular design. Experiments are conducted to evaluate the system performance within a single process, like pick-place of a metallic ball with 3 mm diameter, laser machining of a half-millimeter size contour on the surface of the ball, and inspection and verification of the machined contour by means of microscopic camera. The results presented in this work demonstrate micrometer precision operation of the microfactory, showing high potential for manufacturing electro-mechanical devices with ease of readjustment of the microfactory layout.
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    A novel hybrid contouring control method for 3-DOF robotic manipulators
    (Pergamon-Elsevier Science Ltd, 2016) Uzunovic, Tarik; Baran, Eray A.; Golubovic, Edin; Sabanovic, Asif
    A novel controller for three-dimensional contouring control of three-degrees-of-freedom (3-DOF) robotic manipulators is presented in this paper. The proposed controller comprises of an independent joint controller, designed in the configuration space, and a sliding mode controller that enforces desired dynamics for the tracking error projections to the Frenet-Serret frame. Therefore, the presented controller has a hybrid structure and it is named as hybrid contouring controller. In this paper, contour tracking with constant magnitude tangential velocity is discussed. Reference trajectory is generated using the time based spline approximation in order to provide a smooth reference path. The proposed hybrid contouring controller was experimentally compared with the independent joint controller that is designed in the acceleration control framework with disturbance observer. Experimental results, undertaken on a delta robot, showed that hybrid contouring controller outperforms independent joint control architecture. (C) 2016 Elsevier Ltd. All rights reserved.