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All Journal IAES International Journal of Robotics and Automation (IJRA)
Jolly Atit Shah
National institute of technology
Automotive Engineering Electrical & Electronics Engineering

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Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control. Jolly Atit Shah; S S Rattan
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (16.081 KB) | DOI: 10.11591/ijra.v5i4.pp277-283

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. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on control of robot manipulator to get the desired position using combination of two classical methods PID and computed torque control method after deriving the equation of motion. For the same simulation is represented using MATLAB and compared with computed torque control method.
Kinematic Analysis of 3-DOF Planer Robot Using Artificial Neural Network Jolly Atit Shah; S.S. Rattan; Bahadur Chand Nakra
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 3: September 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (329.983 KB)

Abstract

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 3-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 3-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.DOI: http://dx.doi.org/10.11591/ijra.v1i3.511
Co-Authors Bahadur Chand Nakra S S Rattan S.S. Rattan