DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM

Öz 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.

Kaynakça

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Kaynak Göster

Bibtex @araştırma makalesi { ejt497852, journal = {European Journal of Technique (EJT)}, issn = {2536-5010}, eissn = {2536-5134}, address = {INESEG Yayıncılık Dicle Üniversitesi Teknokent, Sur/Diyarbakır}, publisher = {Hibetullah KILIÇ}, year = {2018}, volume = {8}, pages = {141 - 150}, doi = {10.36222/ejt.497852}, title = {DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM}, key = {cite}, author = {Hüseyinoğlu, Mesut and Abut, Tayfun} }
APA Hüseyinoğlu, M , Abut, T . (2018). DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM . European Journal of Technique (EJT) , 8 (2) , 141-150 . DOI: 10.36222/ejt.497852
MLA Hüseyinoğlu, M , Abut, T . "DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM" . European Journal of Technique (EJT) 8 (2018 ): 141-150 <https://dergipark.org.tr/tr/pub/ejt/issue/41882/497852>
Chicago Hüseyinoğlu, M , Abut, T . "DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM". European Journal of Technique (EJT) 8 (2018 ): 141-150
RIS TY - JOUR T1 - DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM AU - Mesut Hüseyinoğlu , Tayfun Abut Y1 - 2018 PY - 2018 N1 - doi: 10.36222/ejt.497852 DO - 10.36222/ejt.497852 T2 - European Journal of Technique (EJT) JF - Journal JO - JOR SP - 141 EP - 150 VL - 8 IS - 2 SN - 2536-5010-2536-5134 M3 - doi: 10.36222/ejt.497852 UR - https://doi.org/10.36222/ejt.497852 Y2 - 2018 ER -
EndNote %0 European Journal of Technique DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM %A Mesut Hüseyinoğlu , Tayfun Abut %T DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM %D 2018 %J European Journal of Technique (EJT) %P 2536-5010-2536-5134 %V 8 %N 2 %R doi: 10.36222/ejt.497852 %U 10.36222/ejt.497852
ISNAD Hüseyinoğlu, Mesut , Abut, Tayfun . "DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM". European Journal of Technique (EJT) 8 / 2 (Aralık 2018): 141-150 . https://doi.org/10.36222/ejt.497852
AMA Hüseyinoğlu M , Abut T . DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM. EJT. 2018; 8(2): 141-150.
Vancouver Hüseyinoğlu M , Abut T . DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM. European Journal of Technique (EJT). 2018; 8(2): 141-150.
IEEE M. Hüseyinoğlu ve T. Abut , "DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM", European Journal of Technique (EJT), c. 8, sayı. 2, ss. 141-150, Ara. 2018, doi:10.36222/ejt.497852