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Journals / European Journal of Technique (EJT) / 2018 / Cilt: 8 Sayı: 2

DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM

Mesut Hüseyinoğlu(Dicle University)0000-0002-6130-6658
Tayfun Abut(MUS ALPARSLAN UNIVERSITY)0000-0003-4646-3345
Pages
141–150
Publication Date
2018-12-29
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

The control methods applied according to the results of the simulation environment were compared and the results were examined.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:Robotic is a relatively young field of modern technology that exceeds traditional engineering boundaries.
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Key Findings & Data:In this study, modelling and control of two degrees of freedom (2-DOF) robotic arm were carried out.
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Conclusion & Impact:The control methods applied according to the results of the simulation environment were compared and the results were examined.
🔬Design:Modeling & Simulation
📍Scope:Comprehensive Sample
⚙️Variables:Sliding Mode Control · PID Control · Dynamic Model

Abstract

Robotic is a relatively young field of modern technology that exceeds traditional engineering boundaries. Control of the robots is important due to the fact that it has a usage area in many areas. In this study, modelling and control of two degrees of freedom (2-DOF) robotic arm were carried out. Lagrange-Euler method was used to obtain the dynamic equations of the robot. The system was controlled in the simulation environment. Sliding-Mode Control (SMC) and Proportional-Integral-Derivative (PID) control methods were proposed to control the 2 DOF robotic arm. The saturation function is used for the chattering problem of the sliding mode control method. Both process noise and measurement noise have been applied to control the robot in conditions close to the actual ambient conditions. The control methods applied according to the results of the simulation environment were compared and the results were examined.

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Cite This Article

Hüseyinoğlu, M., Abut, T. (2018). DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM. European Journal of Technique (EJT), Cilt: 8 Sayı: 2, 141–150. https://doi.org/10.36222/ejt.497852

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