DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM
[ X ]
Tarih
2018
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Robotic is a relatively young field of modern technology that exceedstraditional engineering boundaries. Control of the robots is important due tothe fact that it has a usage area in many areas. In this study, modelling andcontrol of two degrees of freedom (2-DOF) robotic arm were carried out.Lagrange-Euler method was used to obtain the dynamic equations of therobot. The system was controlled in the simulation environment. Sliding-ModeControl (SMC) and Proportional-Integral-Derivative (PID) control methodswere proposed to control the 2 DOF robotic arm. The saturation function isused for the chattering problem of the sliding mode control method. Bothprocess noise and measurement noise have been applied to control the robotin conditions close to the actual ambient conditions. The control methodsapplied according to the results of the simulation environment were comparedand the results were examined.
Açıklama
Anahtar Kelimeler
Kaynak
European Journal of Technique
WoS Q Değeri
Scopus Q Değeri
Cilt
8
Sayı
2
