مشروع البحث: Simulation and Control of Puma 560 Robot Manipulator
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المساهمين
الممولين
رقم التعريف
6855
الباحث
عبد الفتاح محمد خليفة شميلة
الوصف
The robotics is a very complicated field because of highly coupled nonlinear and
uncertainty in the parameters of both mechanical parts of manipulators and the actuating
systems. The robot motion tracking control is one of the challenging problems. In this
research, we have described the development and realization of MATLAB/SIMULINK
software models to simulate the complete PUMA560 robot that is RRRRRR type with
six degrees of freedom which is well-known in industry where it is used in various tasks
such as welding and painting. The developed software was based on Armstrong
mathematical model and it consists of kinematic, dynamic and trajectory generation
models. To check the performance of the software tool, we have used two different
control methods; the Computed Torque Control (CTC) method and the Sliding Mode
Controller (SMC) method. These methods have been investigated for regulation control
and trajectory tracking problem of PUMA560 six joints. Simulation results clearly
indicate the effectiveness of the CTC controller when all the parameters of dynamic
model are modeled and taken into account but, SMC method is more effective with the
availability of uncertainty issues. All the simulations have been performed under the
same conditions using MATLAB 2013b.
الكلمات الدالة
Simulation and Control of Puma 560 Robot Manipulator