5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü

Authors : Nurettin Gökhan ADAR, Hüseyin ÖREN, Recep KOZAN

Pages : 155-160

Doi:10.16984/saufbed.22465

View : 20 | Download : 9

Publication Date : 2013-04-01

Article Type : Research Paper

Abstract :In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.
Keywords : Robot kolu, Dinamik denklemler, Yörünge, Konum kontrölü, PID kontrol