Earticle

초록

영어

Robots are imitation for the present generation human beings. There is huge change in between robot and human beings where differentiated by their mind, intellectual capabilities. Generally Manipulator is an important parameter in robots construction and flexible operation, nothing but robotic arm. In this paper, we proposed a specially designed Controller for the flexible operation of the manipulator is nothing but “Cohen-Coon PID Controller”. The proposed PID Controller drives to get flexibility in operation of double link manipulator. The entire topology has been studied, investigated, modeled and simulated on double link manipulator only. The overall simulation for test system can be carried out in control tool box of MAT Lab M-File Technique. Each link of double link manipulator was simulated by assigning the state variables in M-File. So that highly graphical facilitations are provided for showing the variation in tip-vibrations and pay-load torque responses for Theta_1 and Theta_2 of double link manipulator. However, the Proposed Robust PID Controller shows better performance rather than the normal conventional Closed Loop PID Controllers.

목차

Abstract
 1. Introduction
 2. Overview of Double Link Manipulator
  2.1 Dynamic Modeling
 3. Proposed Cohen-Coon PID Controller
  3.1 Control Strategy
 4. Modeling and Simulation of Double Link Manipulator with Proposed Controller
 5. Results and Discursions
 6. Conclusions
 Acknowledgements
 References

키워드

저자

• Ramesh Gamasu [ Research Scholar, Department of EEE, SACET, Cherala (A.P), India ]
• Venkata Ramesh Babu Jasti [ Associate Professor, Department of EEE, RISE Krishna Sai Prakasam Group of Institutions, Ongole (A.P), India ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605