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INDONESIA
Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
ISSN : 20893272     EISSN : -     DOI : -
Indonesian Journal of Electrical Engineering and Informatics (IJEEI) is a peer reviewed International Journal in English published four issues per year (March, June, September and December). The aim of Indonesian Journal of Electrical Engineering and Informatics (IJEEI) is to publish high-quality articles dedicated to all aspects of the latest outstanding developments in the field of electrical engineering. Its scope encompasses the engineering of Telecommunication and Information Technology, Applied Computing & Computer, Instrumentation & Control, Electrical (Power), Electronics, and Informatics.
Arjuna Subject : -
Articles 1 Documents
Search results for , issue " Vol 2, No 3: September 2014" : 1 Documents clear
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.

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