Simulation study of an advanced control strategy for a PUMA like robot manipulator

• Main Author: Muhammed Mansor Ben Karsa, Muftah Naji
• Format: Thesis
• Language: English
• Published: 2005
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/2974/1/MuftahNajiMuhammedMansorBenKarsaMFKE2005.pdf; http://eprints.utm.my/id/eprint/2974/

The work of this project concerned with the presentation of an integrated mathematical model of the robot manipulator. The model of the system considered comprises the mechanical part of the robot manipulator, the actuators, as well as the gear trains. The formulation results in nonlinear time varyi...