İnsan Kaldırma Hareketinin Analizi için Tip−2 Bulanık Sistem Yaklaşımı

Year 2013, Volume: 6 Issue: 1, - , 24.06.2016

Mehmet Karakose , Semiha Makinist

Abstract

Günümüzde bilgisayar görmesi, robotik, hareket tanıma ve insansı robotların geliştirilmesi gibi mühendislik problemlerinin çözümüne ve insanların günlük yaşamında sıkça yaptığı yürüme, koşma ve kaldırma gibi hareketlerin analizine yönelik birçok çalışma yapılmaktadır. Bunun için insan hareketleri modellenerek simülasyonunun yapılması ve biyomekanik analizlerinin verilmesi bu açıdan önemlidir. Bu çalışmada, modelleme yönünden karmaşık bir hareket olan insanın kaldırma hareketinin analizi için tip-2 bulanık kontrol tabanlı bir yaklaşım sunulmuştur. Önerilen yaklaşım için iki boyutlu beş parçalı bir insan modeli kullanılarak, her parçaya ait eklem açısı tip-1 ve tip-2 bulanık denetleyiciler ile kontrol edilmiştir. Deneysel olarak elde edilen kaldırma hareketine karşılık gelen veriler kullanılarak, önerilen yaklaşımın Matlab/Simulink simülasyonu karşılaştırmalı olarak verilmiştir. Simülasyon sonuçları insanın kaldırma hareketinin analizi için kullanılan tip-2 bulanık sistemin, zaman ve performans açısından etkinliğini doğrulamaktadır.

Keywords

İnsan Hareketleri, Kaldırma Hareketi, İnsan Modeli, Tip-2 Bulanık Sistem

An Approach Based on Type-2 Fuzzy Control To Analyze Human’s Lifting Movement

Abstract

Many studies in nowadays have been done for solving engineering problems such as computer vision, robotic, motion recognition, and the development of humanoid robots and analysis of human movements such as walking, running, and lifting that are often done in daily life. Therefore, simulated human movements by modeling and given its biomechanical analysis are very important. In this study, an approach based on type-2 fuzzy control is proposed to analyze human’s lifting movement that is a complex movement in terms of modeling. For the proposed approach, joint angle of each part are controlled with type-1 and type-2 fuzzy controller by using a two-dimension five-part human model. The simulation of this approach in Matlab/Simulink is comparatively given by using the related data that is obtained experimentally. Effectiveness of type-2 fuzzy system is verified with regards to time and performance thanks to the human’s lifting movement analyzed with simulation results.

Keywords

Human Motion, Lifting Motion, Human Model, Type-2 Fuzzy System

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