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All Journal Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Hassan Zarabadipour
Imam Khomeini International University, Qazvin
Computer Science & IT Electrical & Electronics Engineering

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Modeling, Simulation and Position Control of 3DOF Articulated Manipulator Sadegh Lafmejani, Hossein; Zarabadipour, Hassan
Indonesian Journal of Electrical Engineering and Informatics (IJEEI) Vol 2, No 3: September 2014
Publisher : IAES Indonesian Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeei.v2i3.119

Abstract

In this paper, the modeling, simulation and control of 3 degrees 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.
Co-Authors Hossein Sadegh Lafmejani