Research Article
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Modelling and Control of 5 dof Robotic Arm

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

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.

References

  • Han J.D., Zeng S.Q., Tham K.Y., Badgero M., Weng J.Y., Dav: A Humanoid Robot Platform for Autonomous Mental Development, ICDL, 2002.
  • Kanda T., Ishiguro H., Ono T., Imai M., Nakatsu R., Development and Evaluation of an Interactive Humanoid Robot “Robovie”, IEEE International Conference on Robotics Automation, 2002.
  • Tiejun Z., Dalong T., Mingyang Z., The Development of a Mobile Humanoid Robot with Varying Joint Stiffness Waist, IEEE International Conference on Robotics Automation , 2005.
  • Asfour T., Berns K., Dillmann R., The Humanoid Robot ARMAR Design and Control, IEEE, 2000.
  • Ly D.N., Regenstein K., Asfour T., Dillmann R., A Modular and Distributed Embedded Control Architecture for Humanoid Robots, IEEE International Conference on Robotics Automation, 2004.
  • Albers A., Brudniok S., Ottnad J., Sauter C., Sedchaicharn K., Armar III – Design of the uper body. Zhao T., Yuan J., Zhao M., Tan D., Research on the Kinematics and Dynamics of a 7-DOF Arm of Humanoid Robot, International Conference on Robotics and Biomimetics, 2006.
  • Eğrisöğüt A., Kozan R., Scara Robot Dinamiğinin Yapay Sinir Ağları Kullanılarak Modellenmesi, Mühendis ve Makina Dergisi, cilt 46, Sayı 550. John J. Craig, Introduction to Robotics Mechanics and Control, 2004
  • Fu, K.S., González, R.C.; Lee, C.S.G., Robótica: Control, detección, visión e inteligencia", Ed. McGrawHill, Madrid, 1998. 5 10 15 -0.2 zaman [sn] 5 10 15 -0.2 zaman [sn] 5 10 15 -0.1 zaman [sn]

5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü

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

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.

References

  • Han J.D., Zeng S.Q., Tham K.Y., Badgero M., Weng J.Y., Dav: A Humanoid Robot Platform for Autonomous Mental Development, ICDL, 2002.
  • Kanda T., Ishiguro H., Ono T., Imai M., Nakatsu R., Development and Evaluation of an Interactive Humanoid Robot “Robovie”, IEEE International Conference on Robotics Automation, 2002.
  • Tiejun Z., Dalong T., Mingyang Z., The Development of a Mobile Humanoid Robot with Varying Joint Stiffness Waist, IEEE International Conference on Robotics Automation , 2005.
  • Asfour T., Berns K., Dillmann R., The Humanoid Robot ARMAR Design and Control, IEEE, 2000.
  • Ly D.N., Regenstein K., Asfour T., Dillmann R., A Modular and Distributed Embedded Control Architecture for Humanoid Robots, IEEE International Conference on Robotics Automation, 2004.
  • Albers A., Brudniok S., Ottnad J., Sauter C., Sedchaicharn K., Armar III – Design of the uper body. Zhao T., Yuan J., Zhao M., Tan D., Research on the Kinematics and Dynamics of a 7-DOF Arm of Humanoid Robot, International Conference on Robotics and Biomimetics, 2006.
  • Eğrisöğüt A., Kozan R., Scara Robot Dinamiğinin Yapay Sinir Ağları Kullanılarak Modellenmesi, Mühendis ve Makina Dergisi, cilt 46, Sayı 550. John J. Craig, Introduction to Robotics Mechanics and Control, 2004
  • Fu, K.S., González, R.C.; Lee, C.S.G., Robótica: Control, detección, visión e inteligencia", Ed. McGrawHill, Madrid, 1998. 5 10 15 -0.2 zaman [sn] 5 10 15 -0.2 zaman [sn] 5 10 15 -0.1 zaman [sn]
There are 8 citations in total.

Details

Primary Language Turkish
Subjects Engineering
Journal Section Research Articles
Authors

Nurettin Gökhan Adar This is me

Hüseyin Ören This is me

Recep Kozan This is me

Publication Date April 1, 2013
Submission Date April 3, 2013
Acceptance Date April 4, 2013
Published in Issue Year 2013 Volume: 17 Issue: 1

Cite

APA Adar, N. G., Ören, H., & Kozan, R. (2013). 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. Sakarya University Journal of Science, 17(1), 155-160. https://doi.org/10.16984/saufbed.22465
AMA Adar NG, Ören H, Kozan R. 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. SAUJS. April 2013;17(1):155-160. doi:10.16984/saufbed.22465
Chicago Adar, Nurettin Gökhan, Hüseyin Ören, and Recep Kozan. “5 Serbestlik Dereceli Robot Kolunun Modellenmesi Ve Kontrolü”. Sakarya University Journal of Science 17, no. 1 (April 2013): 155-60. https://doi.org/10.16984/saufbed.22465.
EndNote Adar NG, Ören H, Kozan R (April 1, 2013) 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. Sakarya University Journal of Science 17 1 155–160.
IEEE N. G. Adar, H. Ören, and R. Kozan, “5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü”, SAUJS, vol. 17, no. 1, pp. 155–160, 2013, doi: 10.16984/saufbed.22465.
ISNAD Adar, Nurettin Gökhan et al. “5 Serbestlik Dereceli Robot Kolunun Modellenmesi Ve Kontrolü”. Sakarya University Journal of Science 17/1 (April 2013), 155-160. https://doi.org/10.16984/saufbed.22465.
JAMA Adar NG, Ören H, Kozan R. 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. SAUJS. 2013;17:155–160.
MLA Adar, Nurettin Gökhan et al. “5 Serbestlik Dereceli Robot Kolunun Modellenmesi Ve Kontrolü”. Sakarya University Journal of Science, vol. 17, no. 1, 2013, pp. 155-60, doi:10.16984/saufbed.22465.
Vancouver Adar NG, Ören H, Kozan R. 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. SAUJS. 2013;17(1):155-60.