Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim

Rahim, Mohd Firdaus (2010) Modeling and controller design of robotic manipulator / Mohd Firdaus Rahim. Degree thesis, Universiti Teknologi MARA.

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Abstract

A robot manipulator also known as robotic arm usually programmable with similar function to a human arm. A manipulator is composed of links, joints and drive components. The degree-of-freedom (DOF) of a robotic manipulator can be defined as the direction in which a robot moves when a joint is actuated. Usually each joint represents one degree of freedom. This project was undertaken to study how to develop a mathematical model for robotic manipulators and equipped with controller. First of all, the two-link manipulator is a simple; the 2-DOF mechanism that incorporates a large amount of complexity in its dynamics. Therefore, based on theory by using NewtonEuler method of mathematical modeling are investigated. Mathematical model is developed base on a 2-DOF manipulator. The mathematical model is tested and the controller is designed by using engineering software i.e. MATLAB Simulink. The physical behavior and the controller are investigated based on an angle control so that the manipulator can provide the ideal rotation with properly to improve the response of the system.

Metadata

Item Type: Thesis (Degree)
Creators:
Creators
Email
Rahim, Mohd Firdaus
2007269286
Contributors:
Contribution
Name
Email / ID Num.
Thesis advisor
Low Cheng Yee, Cheng Yee (Dr. -Ing)
UNSPECIFIED
Subjects: T Technology > TJ Mechanical engineering and machinery > Robotics. Robots. Manipulators (Mechanism)
Divisions: Universiti Teknologi MARA, Shah Alam > Faculty of Mechanical Engineering
Programme: Bachelor Mechanical Engineering (Hons) (Manufacturing)
Item ID: 35713
Uncontrolled Keywords: Modeling, Robotic, Manipulator, Arm
URI: https://ir.uitm.edu.my/id/eprint/35713

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