DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM

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dc.contributor.authorHüseyinoğlu, Mesut
dc.contributor.authorAbut, Tayfun
dc.date.accessioned2024-04-24T19:11:23Z
dc.date.available2024-04-24T19:11:23Z
dc.date.issued2018
dc.departmentDicle Üniversitesien_US
dc.description.abstractRobotic 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.en_US
dc.identifier.endpage150en_US
dc.identifier.issn2536-5010
dc.identifier.issn2536-5134
dc.identifier.issue2en_US
dc.identifier.startpage141en_US
dc.identifier.trdizinid376500
dc.identifier.urihttps://search.trdizin.gov.tr/yayin/detay/376500
dc.identifier.urihttps://hdl.handle.net/11468/27970
dc.identifier.volume8en_US
dc.indekslendigikaynakTR-Dizin
dc.language.isoenen_US
dc.relation.ispartofEuropean Journal of Technique
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.titleDYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARMen_US
dc.titleDYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM
dc.typeArticleen_US

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