3RD PASSIVE JOINT POSITION ANGLE VALIDATIONON 3R UNDER-ACTUATED ROBOT ARM

Authors

  • S. C. Abdullah Faculty of Mechanical Engineering, Universiti Teknologi MARA, Shah Alam, Selangor Darul Ehsan, Malaysia
  • M. A. Fikri Faculty of Mechanical Engineering, Universiti Teknologi MARA, Shah Alam, Selangor Darul Ehsan, Malaysia
  • C. Y. Low Faculty of Mechanical Engineering, Universiti Teknologi MARA, Shah Alam, Selangor Darul Ehsan, Malaysia

DOI:

https://doi.org/10.11113/jt.v76.5493

Keywords:

Real-time, passive joint, under-actuated robot

Abstract

Position angle analysis by learning algorithm on robotics is extremely important as a tool for predictive maintenance to detect faults and mechanical problems. This paper presents position angle analysis on passive joint using three rotations (3R) under-actuated robot manipulator. Experiment was conducted to predict the position angle which were applied to three joint; Active 1, Active 2 and Passive respectively. Experiment by SIMULINK software was carried out to validate the value of position angle obtained during real-time experiment. As a conclusion, the 3rd position angle of passive joint followed the position angle for Active 1 and Active 2.

References

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Hasan, A. T., Hamouda, A. M. S., Ismail, N., and Al-Assadi, H. M. A. A. 2006. An Adaptive Learning Algorithm to Solve the Inverse Kinematics Problem of A 6 D.O.F Serial Robot Manipulator. Journal of Advances in Engineering Software. 37(7): 432-438.

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Published

2015-09-13

Issue

Vol. 76 No. 4: Systems Engineering for Advanced Mechatronics

Section

Science and Engineering

License

Copyright of articles that appear in Jurnal Teknologi belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions, or any other reproductions of similar nature.

How to Cite

3RD PASSIVE JOINT POSITION ANGLE VALIDATIONON 3R UNDER-ACTUATED ROBOT ARM. (2015). Jurnal Teknologi, 76(4). https://doi.org/10.11113/jt.v76.5493