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Two
DOF Robotic Arm Manipulator |
The
project deals with the design and simulation of a 2 DOF robotic arm manipulator.
The trajectory and number of degrees of freedom are selected according to the
application or type of work to be done. Then the system is modelled taking into
consideration, the stability requirements and equilibrium of force and torque.
Then the dynamic equations are obtained.
The equations being non-linear lead
to various methods of further design and simulation. One of the schemes of control
is selected and various compensation techniques are analyzed, in case external
disturbances may occur. In our project, we used computed torque control and PID
compensation. Also, force control, in cases of contact-type works, is implemented.
Then the system is simulated. Here, again, we have various choices like fuzzy
logic, neural networks, etc, from which we chose to do our simulation in Matlab
using the control system toolbox.
Our device has numerous applications in
home, industry, medical field, military, etc.
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