Modeling, Simulation and Control of 2-R Robot

Modeling, Simulation and Control of 2-R Robot

Article ID

0N1R6

Modeling, Simulation and Control of 2-R Robot

Aalim M. Mustafa King Fahd University of Petroleum and Minerals

A AL-SAIF

DOI

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Abstract

This article presents a study of Three PID controller technique of a 2-Revelutejoint robot. First we present Denavit- Hartenberg parameters for 2-R robot. Then we studied the dynamics of the 2-R robot and derived the nonlinear equations of motion. A PID controller has been implemented for three types of modeling technique: model based on linearization about equilibrium point, model based on Autodesk Inventor and Matlab/Simulink software’s, and lastly model based on feedback linearization of the robot. A comparison between the three controllers is presented showing the effectiveness of each technique.

Modeling, Simulation and Control of 2-R Robot

Authors

Aalim M. Mustafa King Fahd University of Petroleum and Minerals

A AL-SAIF

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How to Cite

Aalim M. Mustafa. 2014. “. Global Journal of Research in Engineering – H: Robotics & Nano-Tec GJRE-H Volume 14 (GJRE Volume 14 Issue H1): .

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

GJRE Volume 14 Issue H1
Pg. 49- 54

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Submission Received December 10, 2013
Accepted January 3, 2014
Published January 15, 2014

Keywords

2-R robot control and PID dynamic Modeling Robotics Simulation

Article Matrices

Total Score: 122

Country: Saudi Arabia

Subject: Global Journal of Research in Engineering - H: Robotics & Nano-Tec

Authors: Aalim M. Mustafa, A AL-SAIF (PhD/Dr. count: 0)

View Count (all-time): 200

Total Views (Real + Logic): 4505

Total Downloads (simulated): 2319

Publish Date: 2014 11, Wed

Monthly Totals (Real + Logic):

Month 1: 57 views
Month 2: 37 views
Month 3: 59 views
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Month 5: 36 views
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Total Views: 4505

Total Downloads: 2319

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