Two degree of freedom (2DOF) motion control of upper limb robotic arm mechanism

Khairuddin, Abdul Rahman (2019) Two degree of freedom (2DOF) motion control of upper limb robotic arm mechanism. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The project’s main purpose is to plan a controller which can control the yield plot for an upper limb of robotic arm. A structure of mechanical arm of two degree of freedom (2-DOF) designed and optimized. Study is done to explore the controller to be connected on the mechanical arm. PID controller is picked and analysed in term of its execution, for example, rise time, settling time, steady-state error, and overshoot. The experimental setup is carried out. Open loop simulation are first done to acquire the transfer function of each of the motor. Simulation for an uncompensated framework is done to watch the closed loop system characteristics without utilizing the controllers. From that point onward, closed loop simulations are completed for compensated system by utilizing PID controller. Two kinds of trials are done, to be specific point to point direction control and tracking control tests. Investigation is made dependent on the outcomes acquired.

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