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...
Saved in:
| 主要作者: | |
|---|---|
| 格式: | Thesis |
| 语言: | English |
| 出版: |
2010
|
| 主题: | |
| 在线阅读: | https://ir.uitm.edu.my/id/eprint/35713/1/35713.pdf |
| 标签: |
添加标签
没有标签, 成为第一个标记此记录!
|
| 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 |