Design and Control of a 4-bar-transmission 2-DOF Robot
| Autor: | Huynh Vinh Nghi, Pham Tan Phat, Tran Hoai Nam, Bui Manh Huy, Dang Xuan Ba |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Bar (music) 020208 electrical & electronic engineering Process (computing) PID controller 02 engineering and technology Kinematics Computer Science::Robotics Nonlinear system 020901 industrial engineering & automation Transmission (telecommunications) Control theory 0202 electrical engineering electronic engineering information engineering Robot |
| Zdroj: | 2020 5th International Conference on Green Technology and Sustainable Development (GTSD). |
| DOI: | 10.1109/gtsd50082.2020.9303094 |
| Popis: | The paper presents design and position control of 2-degree-of-freedom robot. To satisfy special requirements of massless distribution and fast response, transmission mechanism of the robot is designed using a 4-bar structure. To effectively support the high-precision control process, an intensive inverse kinematic algorithm is studied. A neural-network-based proportional-integral-derivative (PID) controller is then developed using a nonlinear learning law. Effectiveness of the robot is confirmed by simulation and real-time experiments. |
| Databáze: | OpenAIRE |
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