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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2006
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my-utm-ep.96812018-09-17T03:46:54Z Mechatronic design and development of a robotic arm 2006-11 Mohamed, Zulkifli TJ Mechanical engineering and machinery 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. 2006-11 Thesis http://eprints.utm.my/id/eprint/9681/ http://eprints.utm.my/id/eprint/9681/1/ZulkifliMohamedMFKM2006.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:839 masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering |
| institution |
Universiti Teknologi Malaysia |
| collection |
UTM Institutional Repository |
| language |
English |
| topic |
TJ Mechanical engineering and machinery |
| spellingShingle |
TJ Mechanical engineering and machinery Mohamed, Zulkifli Mechatronic design and development of a robotic arm |
| description |
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. |
| format |
Thesis |
| qualification_level |
Master's degree |
| author |
Mohamed, Zulkifli |
| author_facet |
Mohamed, Zulkifli |
| author_sort |
Mohamed, Zulkifli |
| title |
Mechatronic design and development of a robotic arm |
| title_short |
Mechatronic design and development of a robotic arm |
| title_full |
Mechatronic design and development of a robotic arm |
| title_fullStr |
Mechatronic design and development of a robotic arm |
| title_full_unstemmed |
Mechatronic design and development of a robotic arm |
| title_sort |
mechatronic design and development of a robotic arm |
| granting_institution |
Universiti Teknologi Malaysia, Faculty of Mechanical Engineering |
| granting_department |
Faculty of Mechanical Engineering |
| publishDate |
2006 |
| url |
http://eprints.utm.my/id/eprint/9681/1/ZulkifliMohamedMFKM2006.pdf |
| _version_ |
1747814775936516096 |