Teaching and learning robotic arm model

Jahnavi, Kadirimangalam; Sivraj, P.

doi:10.1109/icicict1.2017.8342804

Cited by 38 publications

(22 citation statements)

References 4 publications

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“…According to the prototype physical characteristics, it can be approximated to a physical or compound pendulum. The forces acting on the pendulum can be written through (1).…”

Section: System Modellingmentioning

confidence: 99%

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Study of Non-Linear Systems: PI and Fuzzy Controllers Performances

Machado¹,

Santos²,

Carvalho³

et al. 2020

Wseas Transactions on Power Systems

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This work aims to present the development and study of a nonlinear system structure capable of moving in one degree of freedom, performed by a brushless motor coupled to a propeller. For this, the mathematical modeling of the developed structure was based on resembling a simple physical pendulum. Regarding the system control, two techniques were considered: PID and Fuzzy, implemented in Matlab. Simulation tests were carried out to validate and compare the control technique results with different input signals. Both controller topologies tracked the respective setpoints, but Fuzzy controller had the best system performance. The structure developed can serve as a base platform for future improvements, studies, and experiment tests, such as the analysis of motion in the horizontal plane.

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“…According to the prototype physical characteristics, it can be approximated to a physical or compound pendulum. The forces acting on the pendulum can be written through (1).…”

Section: System Modellingmentioning

confidence: 99%

“…Automation and robotics are closely related, since automation deals with the control of mechanical, electronic and computer-based systems and robotics present in a large area of industrial automation, as robotic machines to improve the efficiency of industrial automation [1].…”

Section: Introductionmentioning

confidence: 99%

Study of Non-Linear Systems: PI and Fuzzy Controllers Performances

Machado¹,

Santos²,

Carvalho³

et al. 2020

Wseas Transactions on Power Systems

View full text Add to dashboard Cite

show abstract

“…For example, a low‐cost platform to estimate the calibration parameters of Microelectromechanical systems magnetometer and accelerometer was presented [10]. The platform is based on a robotic arm using three degrees of freedom principle in different positions for collecting a data set of evenly distributed points [11]. Although robotic arms can do a lot of works more efficiently than human beings with fast and precise performance, it still has a limitation for being applied to the bike frame QC because of an insufficient intelligence supported.…”

Section: Introductionmentioning

confidence: 99%

Realisation of three‐dimensional geometric model in case of bike frame measurement

Lin

Wang

et al. 2020

IET Circuits, Devices & Systems

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This study presents a measurement method for a bike frame to solve a problem that usually relies on the digimatic callipers or mechanical molds handled by a human, therefore avoiding a long time process and measurement errors. In such a mechanism, the measured data is based on the handwritten record, and thus a difficulty may occur in further data analysis using the computer. For this reason, this study aims to develop a mathematical model of three-dimensional geometry especially applied for robotic arm-based bike frame measurement. The proposed mathematical geometric model effectively integrates the sphere formula with the inner product of normal vector to find four parameters in the sphere formula using only three measured points. Accordingly, the centre coordinate of the check point and its diameter can be calculated accurately and simply. The practical model performance also prooves that all crucial quality checking items such as centre plane offset, inside diameter, axis point and parallelism in different rotating shafts of bike frame can be achieved in term of rapid, robustness and precision. Moreover, the measurement accuracy in the estimated standard deviation and measurement uncertainty using two different bike frames is presented to verify the effectiveness of the proposed model.

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“…Kinematics play a significant role in robots, particularly for research on industrial manipulators' behavior. Therefore, the first step involved in any robot system is the analysis and modeling of the robot arm kinematics [7], [8]. The analysis and modeling processes include forward and inverse kinematics.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modeling of A Low Cost 4 DOF Robot Arm System

2020

IJETER

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Robot arm systems are often used worldwide to enhance the quality and productivity of production in the manufacturing industry. Typical applications of robot arm systems include assembly, painting, welding, and pick and place operations. The number of degree-of-freedom (DOF) for most robots in the industry is limited to 6 DOF. An increase in DOF causes a robot arm design to become considerably complicated. This study mainly aims to perform modeling of a low cost 4 DOF robot arm. Modeling simulation of a robot arm was performed using MATLAB. The transformation matrix for each robot arm joint was obtained using the Denavit and Hartenberg convention technique. The modeling concept used for the actual and simulated robot arm is the forward and inverse kinematic models. The accuracy of the robot arm modeling was evaluated by calculating the error value between the modeling of the actual and simulated robot arms. This study successfully modeled a robot arm, although other easy modeling approaches should be investigated in the future.

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Teaching and learning robotic arm model

Cited by 38 publications

References 4 publications

Study of Non-Linear Systems: PI and Fuzzy Controllers Performances

Study of Non-Linear Systems: PI and Fuzzy Controllers Performances

Realisation of three‐dimensional geometric model in case of bike frame measurement

Kinematic Modeling of A Low Cost 4 DOF Robot Arm System

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