DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM

Authors : Mesut HÜSEYİNOĞLU, Tayfun ABUT

Pages : 141-150

Doi:10.36222/ejt.497852

View : 16 | Download : 7

Publication Date : 2018-12-29

Article Type : Research Paper

Abstract :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 insert ignore into journalissuearticles values(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 insert ignore into journalissuearticles values(SMC); and Proportional-Integral-Derivative insert ignore into journalissuearticles values(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.
Keywords : Sliding Mode Control, PID Control, Dynamic Model, , 2 DOF Robotic Arm