Modeling and control of 5250 Lab-Volt 5 DoF robot manipulator
Joint Authors
al-Tamimi, Wathiq Isa Mahdi
Hadi, Wail Muhammad Hasan
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 15, Issue 2 (30 Jun. 2015), pp.34-46, 13 p.
Publisher
Publication Date
2015-06-30
Country of Publication
Iraq
No. of Pages
13
Main Subjects
Topics
Abstract EN
This paper presents the modeling and control simulation for Lab-Volt 5250 five degree of freedom robot manipulator based on the standard Denavit- Hartenberg approach.
The dynamic model of the robot derived using Euler- Lagrange equation which is the energy balance equation.
This dynamic model has a very high nonlinearity that is represented by using MATLAB, m-file and simulation to run the dynamic model in open and close loop.
In this research, the close loop simulation is done by using two types of control theory that applied to control each joint of the robot manipulator independently, the first one is PD controller and the second one is an intelligent controller which is PD-like fuzzy controller used to control the joint position.
American Psychological Association (APA)
al-Tamimi, Wathiq Isa Mahdi& Hadi, Wail Muhammad Hasan. 2015. Modeling and control of 5250 Lab-Volt 5 DoF robot manipulator. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 15, no. 2, pp.34-46.
https://search.emarefa.net/detail/BIM-654206
Modern Language Association (MLA)
al-Tamimi, Wathiq Isa Mahdi& Hadi, Wail Muhammad Hasan. Modeling and control of 5250 Lab-Volt 5 DoF robot manipulator. Iraqi Journal of Computer, Communications and Control Engineering Vol. 15, no. 2 (Jun. 2015), pp.34-46.
https://search.emarefa.net/detail/BIM-654206
American Medical Association (AMA)
al-Tamimi, Wathiq Isa Mahdi& Hadi, Wail Muhammad Hasan. Modeling and control of 5250 Lab-Volt 5 DoF robot manipulator. Iraqi Journal of Computer, Communications and Control Engineering. 2015. Vol. 15, no. 2, pp.34-46.
https://search.emarefa.net/detail/BIM-654206
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 46
Record ID
BIM-654206