Modelling and Control of 5 dof Robotic Arm

Year 2013, Volume: 17 Issue: 1, 155 - 160, 01.04.2013

Nurettin Gökhan Adar Hüseyin Ören Recep Kozan

Abstract

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.

Keywords

Robotic arm, Dynamic Equations, Trajectory, Position Control, PID control

5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü

Abstract

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.

Keywords

Robot kolu, Dinamik denklemler, Yörünge, Konum kontrölü, PID kontrol

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