| Autor: |
Hüseyin Ören, Recep Kozan, Nurettin Gökhan Adar |
| Rok vydání: |
2013 |
| Předmět: |
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| Zdroj: |
Sakarya University Journal of Science, Vol 17, Iss 1 (2013) |
| ISSN: |
1301-4048 |
| DOI: |
10.5505/saufbe.2013.07769 |
| Popis: |
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. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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