Bildiri Koleksiyonu
Bu koleksiyon için kalıcı URI
Güncel Gönderiler
Öğe A Comparative Study for Computational Cost of Fundamental Robot Manipulators(Ieee, 2011) Toz, Metin; Küçük, SerdarThe computational cost of the dynamic equations is very important in real time control applications of industrial robot manipulators. Basically, the computational cost depends on the joint properties, the method used for deriving the dynamic equations and the algorithm efficiency. In this study, the dynamic equations for the sixteen three and six degrees of freedom fundamental robot configurations were derived using Newton-Euler (N-E), Lagrange-Euler (L-E) and Hamiltonian (H) methods in symbolic form. The computational costs of these dynamic equations for both three and six degrees of freedom manipulators are obtained. Some comparisons considering the joint properties, the method and the workspace geometries of the manipulators are performed and some important conclusions are summarized.Öğe Simulated annealing based passive power filter design for a medium voltage power system [conferenceObject](2012) Ertay, Muhammed Mustafa; Tosun, Salih; Zengin, AhmetPower quality problems on distribution systems are becoming an increasingly important issue because the increase of harmonic current sources not only caused poor supply quality but also can be damaged the system components. As is known passive power filters (PPFs) have been mostly used to restrict the harmonic currents in industrial distribution systems. Aim of this paper is PPF design according to IEEE standards by using simulated annealing (SA) which is one of the heuristic techniques. The main idea behind the PPF design is the minimization of rms current of distribution bus. First of all harmonic analysis of studied industrial power system has been done. After this analysis, PPF design for mitigation of current harmonics and also power factor correction is realized firstly by using the try and error (TAE) method taking into consideration IEEE 519-1992 standards. Similar to that PPF design is realized by using proposed SA method. Effectiveness and convenience of the designed single tuned PPFs in limitation of the harmonic distortions are analyzed via computer simulations. Simulation studies are carried out in Matlab/Simulink environment. © 2012 IEEE.
