Sit-to-stand movements using PID controller / Mohd Al-Hafiz Harun

Harun, Mohd Al-Hafiz (2008) Sit-to-stand movements using PID controller / Mohd Al-Hafiz Harun. Degree thesis, Universiti Teknologi MARA.

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Abstract

This study presents a humanoid model performing sit-to-stand movement. The main goals of this project are; the development of humanoid dynamics model and the development of controller to control the movement of the system. To achieve this, MSC.visualNastran Desktop 2002 has been selected as the platform to build the humanoid. PID controller is developed in Simulink and integrate with the model in MSC.visualNastran Desktop 2002 to control the movement. The output trajectories for ankle, knee and hip are controlled to follow the desired input. The output from the simulation shows that the PID developed to control the humanoid model able to produced better trajectory and achieve better transient response. Therefore, interaction between the humanoid dynamics model and the PID controller give proper performance of sit-to-stand movements.

Metadata

Item Type: Thesis (Degree)
Creators:
Creators
Email
Harun, Mohd Al-Hafiz
UNSPECIFIED
Contributors:
Contribution
Name
Email / ID Num.
Thesis advisor
Mohd Radzol, Afaf Rozan
UNSPECIFIED
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > Mechanics applied to machinery. Dynamics
T Technology > TJ Mechanical engineering and machinery > Control engineering systems. Automatic machinery (General)
Divisions: Universiti Teknologi MARA, Pulau Pinang > Permatang Pauh Campus > Faculty of Electrical Engineering
Programme: Bachelor of Engineering (Hons) Electrical And Electronic Engineering
Item ID: 43245
Uncontrolled Keywords: Humanoid Model, PID Controller, Trajectory
URI: https://ir.uitm.edu.my/id/eprint/43245

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