- Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi
- Vol: 17 Issue: 1
- 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü
5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü
Authors : Nurettin Gökhan Adar, Hüseyin Ören, Recep Kozan
Pages : 155-160
Doi:10.16984/saufbed.22465
View : 14 | Download : 10
Publication Date : 2013-04-01
Article Type : Other
Abstract :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.Keywords : Robot kolu, Dinamik denklemler, Yörünge, Konum kontrölü, PID kontrol