Cover Image

Active force control applied to a rigid robot arm

The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out...

Full description

Saved in:
Bibliographic Details
Main Authors: Mailah, Musa, Hewit, J. R., Meeran, Sheik
Format: Article
Language:English
Published: Faculty of Mechanical Engineering 1996
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/8345/1/MusaMailah1996_ActiveForceControlApplied.pdf
http://eprints.utm.my/id/eprint/8345/
http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.utm.8345
record_format eprints
spelling my.utm.83452010-06-02T01:54:42Z http://eprints.utm.my/id/eprint/8345/ Active force control applied to a rigid robot arm Mailah, Musa Hewit, J. R. Meeran, Sheik TJ Mechanical engineering and machinery The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out on a rigid two link disturbances. The results are directly compared to an equivalent system which employs the conventional model-based Proportional-Derivative (PD) control method. Faculty of Mechanical Engineering 1996-12 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/8345/1/MusaMailah1996_ActiveForceControlApplied.pdf Mailah, Musa and Hewit, J. R. and Meeran, Sheik (1996) Active force control applied to a rigid robot arm. Jurnal Mekanikal, 2 (2). pp. 52-68. ISSN 0127-3396 http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Mailah, Musa
Hewit, J. R.
Meeran, Sheik
Active force control applied to a rigid robot arm
description The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out on a rigid two link disturbances. The results are directly compared to an equivalent system which employs the conventional model-based Proportional-Derivative (PD) control method.
format Article
author Mailah, Musa
Hewit, J. R.
Meeran, Sheik
author_facet Mailah, Musa
Hewit, J. R.
Meeran, Sheik
author_sort Mailah, Musa
title Active force control applied to a rigid robot arm
title_short Active force control applied to a rigid robot arm
title_full Active force control applied to a rigid robot arm
title_fullStr Active force control applied to a rigid robot arm
title_full_unstemmed Active force control applied to a rigid robot arm
title_sort active force control applied to a rigid robot arm
publisher Faculty of Mechanical Engineering
publishDate 1996
url http://eprints.utm.my/id/eprint/8345/1/MusaMailah1996_ActiveForceControlApplied.pdf
http://eprints.utm.my/id/eprint/8345/
http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2
_version_ 1643644975098888192
score 13.160551

Similar Items