Mechatronic design and development of a robotic arm
In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control sch...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/9681/1/ZulkifliMohamedMFKM2006.pdf |
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| Summary: | In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control scheme and disturbances to the robot arm. The results from the simulation are used and compared with experimental results. It is proven that a robot arm having a PD-AFC scheme is very robust and stable compare to PD control. |
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