مشروع البحث:
Simulation and Control of Puma 560 Robot Manipulator

صفحة عناصر بسيطة
dc.contributor.advisorد . ابراهيم نصر جليطة
dc.date.accessioned2025-01-19T11:29:52Z
dc.date.available2025-01-19T11:29:52Z
dc.descriptionThe 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.
dc.description.abstractThe 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.
dc.identifier6855
dc.identifier.urihttps://dspace.academy.edu.ly/handle/123456789/1302
dc.subjectSimulation and Control of Puma 560 Robot Manipulator
dc.titleSimulation and Control of Puma 560 Robot Manipulator
dspace.entity.typeProject
project.endDate2018
project.funder.nameهندسة الحاسوب
project.investigatorعبد الفتاح محمد خليفة شميلة
project.startDate2017
relation.isOrgUnitOfProjectd70558aa-ae49-4279-9e5d-a763f40a7531
relation.isOrgUnitOfProject.latestForDiscoveryd70558aa-ae49-4279-9e5d-a763f40a7531
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