Shah, J., Rattan, S.S. and Nakra, B.C. (2015) Dynamic analysis of two link robot manipulator for control design using computed torque control. International Journal of Research in Computer Applications and Robotics, 3(1), pp. 52-59.
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Publisher's URL: https://www.ijrcar.com/contents/volume_3_issue_1
Abstract
Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life. Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. As the closed form solutions are not available we have to use numerical solution. Because of these uncertainties and nonlinear behaviour, it's a challenging task to control the motion of robot manipulator at accurate position. Here we focused mainly on control of robot manipulator to get the desired position using computed torque control method. After deriving the equation of motion, control simulation is represented using MATLAB.
| Item Type: | Articles |
|---|---|
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Shah, Dr Jolly Atit |
| Authors: | Shah, J., Rattan, S.S., and Nakra, B.C. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| College/School: | College of Science and Engineering > School of Engineering |
| Journal Name: | International Journal of Research in Computer Applications and Robotics |
| Publisher: | International Journal of Research in Computer Applications and Robotics |
| ISSN: | 2320-7375 |
| ISSN (Online): | 2320-7345 |
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