DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM

Year 2018, Volume: 8 Issue: 2, 141 - 150, 29.12.2018

Mesut Hüseyinoğlu , Tayfun Abut

https://doi.org/10.36222/ejt.497852

Cited By: 6

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.

Keywords

Sliding Mode Control, PID Control, Dynamic Model, , 2-DOF Robotic Arm

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