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Mechatronic design and development of a robotic arm

In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control sch...

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Bibliographic Details
Main Author:	Mohamed, Zulkifli
Format:	Thesis
Language:	English
Published:	2006
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/9681/1/ZulkifliMohamedMFKM2006.pdf http://eprints.utm.my/id/eprint/9681/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:839
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id	my.utm.9681
record_format	eprints
spelling	my.utm.96812018-09-17T03:46:54Z http://eprints.utm.my/id/eprint/9681/ Mechatronic design and development of a robotic arm Mohamed, Zulkifli TJ Mechanical engineering and machinery In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control scheme and disturbances to the robot arm. The results from the simulation are used and compared with experimental results. It is proven that a robot arm having a PD-AFC scheme is very robust and stable compare to PD control. 2006-11 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/9681/1/ZulkifliMohamedMFKM2006.pdf Mohamed, Zulkifli (2006) Mechatronic design and development of a robotic arm. Masters thesis, Universiti Teknologi Malaysia, Faculty of Mechanical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:839
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 Mohamed, Zulkifli Mechatronic design and development of a robotic arm
description	In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control scheme and disturbances to the robot arm. The results from the simulation are used and compared with experimental results. It is proven that a robot arm having a PD-AFC scheme is very robust and stable compare to PD control.
format	Thesis
author	Mohamed, Zulkifli
author_facet	Mohamed, Zulkifli
author_sort	Mohamed, Zulkifli
title	Mechatronic design and development of a robotic arm
title_short	Mechatronic design and development of a robotic arm
title_full	Mechatronic design and development of a robotic arm
title_fullStr	Mechatronic design and development of a robotic arm
title_full_unstemmed	Mechatronic design and development of a robotic arm
title_sort	mechatronic design and development of a robotic arm
publishDate	2006
url	http://eprints.utm.my/id/eprint/9681/1/ZulkifliMohamedMFKM2006.pdf http://eprints.utm.my/id/eprint/9681/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:839
_version_	1643645224710307840
score	13.160551

Mechatronic design and development of a robotic arm

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