global-journal-of-research-in-engineering-h-robotics-nano-tec Global Journal of Research in Engineering - H: Robotics & Nano-Tec 0975-5861 2249-4596 Global Journals Publishing Group Incorporated 77906 Modeling, Simulation and Control of 2-R Robot MustafaAalim M. SAUDI ARABIA, King Fahd University of Petroleum and Minerals 15 01 2014 14 H1 49 54

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.

 robotics 2-R robot dynamic modeling simulation control and PID. Full Text

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.