Papers by Keyword: Two-Link Manipulator

Abstract: PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

Abstract: For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A PD robust controller is introduced to optimize the stability and convergence of traditional PD controller and avoid excess initial driving torque for two-link industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a PD robust controller under given upper bound disturbance and completes track control and driving torque trial. Through result comparison and analysis, the superiority of the PD robust controller for two-link manipulator is verified.

Abstract: For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A new modified feed-forward compensation PD controller is introduced to optimize the stability and convergence of traditional PD controller for industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a modified feed-forward compensation PD controller based on two-link manipulator model and completes track control trial. Through result comparison and analysis, the superiority of the new modified PD controller for two-link manipulator is verified.

Abstract: In this article, we used image processing by a webcam connected on top of the arm robot. The robot navigation is in an unknown environment. Then start point and target point were determined for the robot, so the robot needs to have a program for path planning using Voronoi diagrams to find the path. After the possible path for moving the robot was found, the route information obtained was sent to the arm robot. The arm robot moves in the workspace and any time new information was processed via the webcam. The program was written using MATLAB software which at controls the robot’s movement the unknown environment.