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All Journal Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Hossein Sadegh Lafmejani
Imam Khomeini International University
Computer Science & IT Electrical & Electronics Engineering

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Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator Hossein Sadegh Lafmejani; Hassan Zarabadipour
Indonesian Journal of Electrical Engineering and Informatics (IJEEI) Vol 1, No 3: September 2013
Publisher : IAES Indonesian Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.52549/ijeei.v1i3.80

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.
Fuzzy Control of Yaw and Roll Angles of a Simulated Helicopter Model Includes Articulated Manipulators Hossein Sadegh Lafmejani; Hassan Zarabadipour
Indonesian Journal of Electrical Engineering and Informatics (IJEEI) Vol 1, No 4: December 2013
Publisher : IAES Indonesian Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.52549/ijeei.v1i4.88

Abstract

Fuzzy logic controller (FLC) is a heuristic method by If-Then Rules which resembles human intelligence and it is a good method for designing Non-linear control systems. In this paper, an arbitrary helicopter model includes articulated manipulators has been simulated with Matlab SimMechanics toolbox and then we designed a fuzzy controller for its yaw and roll angles when the manipulators are moving for a task. Results reveal that a simple FLC can control this complex system well.
Co-Authors Hassan Zarabadipour