Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim

A robot manipulator also known as robotic arm usually programmable with similar function to a human arm. A manipulator is composed of links, joints and drive components. The degree-of-freedom (DOF) of a robotic manipulator can be defined as the direction in which a robot moves when a joint is actuat...

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Main Author:	Rahim, Mohd Firdaus
Format:	Thesis
Language:	English
Published:	2010
Subjects:	Robotics Robots Manipulators (Mechanism)
Online Access:	https://ir.uitm.edu.my/id/eprint/35713/1/35713.pdf
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id	my-uitm-ir.35713
record_format	uketd_dc
spelling	my-uitm-ir.357132020-10-28T01:43:30Z Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim 2010 Rahim, Mohd Firdaus Robotics. Robots. Manipulators (Mechanism) A robot manipulator also known as robotic arm usually programmable with similar function to a human arm. A manipulator is composed of links, joints and drive components. The degree-of-freedom (DOF) of a robotic manipulator can be defined as the direction in which a robot moves when a joint is actuated. Usually each joint represents one degree of freedom. This project was undertaken to study how to develop a mathematical model for robotic manipulators and equipped with controller. First of all, the two-link manipulator is a simple; the 2-DOF mechanism that incorporates a large amount of complexity in its dynamics. Therefore, based on theory by using NewtonEuler method of mathematical modeling are investigated. Mathematical model is developed base on a 2-DOF manipulator. The mathematical model is tested and the controller is designed by using engineering software i.e. MATLAB Simulink. The physical behavior and the controller are investigated based on an angle control so that the manipulator can provide the ideal rotation with properly to improve the response of the system. 2010 Thesis https://ir.uitm.edu.my/id/eprint/35713/ https://ir.uitm.edu.my/id/eprint/35713/1/35713.pdf text en public degree Universiti Teknologi MARA Faculty of Mechanical Engineering Low Cheng Yee, Cheng Yee (Dr. -Ing)
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Low Cheng Yee, Cheng Yee (Dr. -Ing)
topic	Robotics Robots Manipulators (Mechanism)
spellingShingle	Robotics Robots Manipulators (Mechanism) Rahim, Mohd Firdaus Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim
description	A robot manipulator also known as robotic arm usually programmable with similar function to a human arm. A manipulator is composed of links, joints and drive components. The degree-of-freedom (DOF) of a robotic manipulator can be defined as the direction in which a robot moves when a joint is actuated. Usually each joint represents one degree of freedom. This project was undertaken to study how to develop a mathematical model for robotic manipulators and equipped with controller. First of all, the two-link manipulator is a simple; the 2-DOF mechanism that incorporates a large amount of complexity in its dynamics. Therefore, based on theory by using NewtonEuler method of mathematical modeling are investigated. Mathematical model is developed base on a 2-DOF manipulator. The mathematical model is tested and the controller is designed by using engineering software i.e. MATLAB Simulink. The physical behavior and the controller are investigated based on an angle control so that the manipulator can provide the ideal rotation with properly to improve the response of the system.
format	Thesis
qualification_level	Bachelor degree
author	Rahim, Mohd Firdaus
author_facet	Rahim, Mohd Firdaus
author_sort	Rahim, Mohd Firdaus
title	Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim
title_short	Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim
title_full	Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim
title_fullStr	Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim
title_full_unstemmed	Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim
title_sort	modeling and controller design of robotic manipulator / mohd firdaus rahim
granting_institution	Universiti Teknologi MARA
granting_department	Faculty of Mechanical Engineering
publishDate	2010
url	https://ir.uitm.edu.my/id/eprint/35713/1/35713.pdf
_version_	1783734314296410112

Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim

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