Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6070
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dc.contributor.authorUzunoğlu, Emre-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.contributor.authorKiper, Gökhan-
dc.date.accessioned2017-08-10T11:44:10Z-
dc.date.available2017-08-10T11:44:10Z-
dc.date.issued2016-08-15-
dc.identifier.citationUzunoğlu, E., Dede, M. İ. C., and Kiper, G. (2016). Trajectory planning for a planar macro-micro manipulator of a laser-cutting machine. Industrial Robot, 43(5), 513-523. doi:10.1108/IR-02-2016-0057en_US
dc.identifier.issn0143-991X-
dc.identifier.urihttp://doi.org/10.1108/IR-02-2016-0057-
dc.identifier.urihttp://hdl.handle.net/11147/6070-
dc.description.abstractPurpose-In the industry, there is always a demand to shorten the task completion durations to maximize the efficiency of the operation. This work focuses on making use of a special type of kinematic redundancy, macro-micro manipulation, to minimize the task completion duration. The purpose of this paper is to develop the most convenient trajectory planner to be integrated with industrial computerized numerical control (CNC) systems to resolve kinematic redundancy for task duration minimization. Design/methodology/approach-A special type of kinematic redundancy is devised by using two kinematically different mechanisms that have different advantages, which are named as macro and micro mechanisms. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. A new trajectory planning algorithm is designed and used for the constructed planar laser-cutting machine, and some benchmark pieces are cut. Findings-Offline method has practical limitations for employment in a real case scenario such as assuming infinite jerk limits for each axis motion. This limitation was removed by using an online trajectory generation technique. Experimental test results indicate that the online trajectory planning technique developed for the macro-micro mechanism to shorten the task duration was successful. Practical implications-Although the new trajectory planning algorithm is implemented for a laser-cutting machine, it can also be used for other manufacturing systems that require higher acceleration and accuracy levels than the conventional machines. The new algorithm is compatible with the commercially available CNC systems. Originality/value-In this work, a new approach to reducing the task duration for planar machining operations was introduced by making use of macro-micro manipulation concept. The core novelty of the work is devising trajectory planning algorithms to get the most efficiency in terms of acceleration limits from a macro-micro manipulation while making these algorithms deployable to most of the CNC systems.en_US
dc.description.sponsorshipRepublic of Turkey Ministry of Science, Industry and Technology and Coskunoz Metal Form Inc. (01,668.STZ.2012-2)en_US
dc.language.isoenen_US
dc.publisherEmerald Group Publishing Ltd.en_US
dc.relation.ispartofIndustrial Roboten_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectRedundancy resolutionen_US
dc.subjectRedundant manipulatoren_US
dc.subjectTrajectory planningen_US
dc.subjectMicromanipulatorsen_US
dc.titleTrajectory planning for a planar macro-micro manipulator of a laser-cutting machineen_US
dc.typeArticleen_US
dc.authoridTR26957en_US
dc.authoridTR24470en_US
dc.institutionauthorUzunoğlu, Emre-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.institutionauthorKiper, Gökhan-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume43en_US
dc.identifier.issue5en_US
dc.identifier.startpage513en_US
dc.identifier.endpage523en_US
dc.identifier.wosWOS:000386142100009en_US
dc.identifier.scopus2-s2.0-84986626815en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1108/IR-02-2016-0057-
dc.relation.doi10.1108/IR-02-2016-0057en_US
dc.coverage.doi10.1108/IR-02-2016-0057en_US
dc.identifier.scopusqualityQ2-
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.grantfulltextopen-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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