TY  - JOUR
T1  - 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü
TT  - Modelling and Control of 5 dof Robotic Arm
AU  - Adar, Nurettin Gökhan
AU  - Ören, Hüseyin
AU  - Kozan, Recep
PY  - 2013
DA  - April
Y2  - 2013
DO  - 10.16984/saufbed.22465
JF  - Sakarya University Journal of Science
JO  - SAUJS
PB  - Sakarya University
WT  - DergiPark
SN  - 2147-835X
SP  - 155
EP  - 160
VL  - 17
IS  - 1
LA  - tr
AB  - In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.
KW  - Robot kolu
KW  - Dinamik denklemler
KW  - Yörünge
KW  - Konum kontrölü
KW  - PID kontrol
N2  - In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.
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UR  - https://doi.org/10.16984/saufbed.22465
L1  - https://dergipark.org.tr/en/download/article-file/192690
ER  -