Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

Authors

Hossein Sadegh Lafmejani
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Hassan Zarabadipour
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DOI: https://doi.org/10.52549/ijeei.v1i3.80
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Published: 01-09-2013 • Issue: Vol. 1 No. 3: September 2013 • Section: Instrumentation_&_Control

Abstract

In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.
Keywords: control

Author Biographies

Hossein Sadegh Lafmejani
Hossein Sadegh Lafmejani was born in Rasht, Iran, in 1988. He is MSc student in department of Electrical Engineering at the I.K.I University, in Qazvin, Iran. He recived his BSc degree in Control Engineering from the Sahand University of technology, Tabriz, Iran in 2011. His research interests are Robotics, Nonlinear Control and fractional Order systems.
Hassan Zarabadipour
Hassan Zarabadipour was born in Qazvin, Iran, in 1957. He is assistant professor in the department of Electrical Engineering at the I.K.I. University, in Qazvin, Iran. He received his Ph.D. degree in Electrical Engineering from the Wichita state university, Kansas, USA in 1988. His present research interests are mainly in, Large scale systems, Intelligent Control, Nonlinear Control and Optimal control.

How to Cite

[1]
H. Sadegh Lafmejani and H. Zarabadipour, “Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator”, IJEEI, vol. 1, no. 3, pp. 99–108, Sep. 2013, doi: 10.52549/ijeei.v1i3.80.