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Workspace control of two link planar robot using micro-box 2000
Lee, Jun Wei1, Ahmad Zaki Shukor2, Muhammad Herman Jamaluddin3.
This paper presents the workspace/task space control of a two degree of freedom (DOF) two link planar robot manipulator with DC geared motor actuation. Due to the nature of the DC geared motor, PD controller system is designed for each joint of the actuator to minimize the error, improve performance and obtain desired response. This paper includes the modelling of the planar structure and the simulation of workspace control by two methods, inverse kinematics and Direct Cartesian. Then a disturbance compensation called Workspace Observer (WOB) is introduced to improve the Direct Cartesian method. Comparison between the three methods was done. The Direct Cartesian with DOB shows a better trajectory response compared to inverse kinematics.
Affiliation:
- Universiti Teknikal Malaysia Melaka, Malaysia
- Universiti Teknikal Malaysia Melaka, Malaysia
- Universiti Teknikal Malaysia Melaka, Malaysia
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Indexation |
Indexed by |
MyJurnal (2021) |
H-Index
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6 |
Immediacy Index
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0.000 |
Rank |
0 |
Indexed by |
Scopus 2020 |
Impact Factor
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CiteScore (1.4) |
Rank |
Q3 (Engineering (all)) |
Additional Information |
SJR (0.191) |
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