Modeling analysis and simulation of 2-DOF robotic manipulator

Samia M. Mahil, Ahmed Al-Durra

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

Robotics is a very active field that crosses the traditional boundaries of engineering. The field combines various engineering disciplines and merges numerous engineering applications. Robotics manipulators present a complex area of study related to kinematics, dynamics, computer vision and control. In this paper we present the mathematical model of a 2-DOF robotic arm using Denavit Hartenberg convention and the Langrangian equation of motion. The 2-DOF robotic arm is a highly dynamic nonlinear system that requires complex methods of control. In our paper we attempted to linearize the mathematical model around nominal equilibrium points we then utilized the linearized state space equations in the measurement of three qualitative analysis defined by stability, controllability and observability. According to the qualitative analysis results we designed two types of controllers; full state feedback controller and LQR in addition to a full order observer.

Original languageBritish English
Title of host publication2016 IEEE 59th International Midwest Symposium on Circuits and Systems, MWSCAS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509009169
DOIs
StatePublished - 2 Jul 2016
Event59th IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2016 - Abu Dhabi, United Arab Emirates
Duration: 16 Oct 201619 Oct 2016

Publication series

NameMidwest Symposium on Circuits and Systems
Volume0
ISSN (Print)1548-3746

Conference

Conference59th IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2016
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period16/10/1619/10/16

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