WORKSPACE CONTROL OF TWO LINK PLANAR ROBOT USING MICRO-BOX 2000
DOI:
https://doi.org/10.11113/jt.v77.6545Keywords:
Inverse Kinematics, Direct Cartesian, PD controller, two link open chain manipulator, 2R planar, disturbance observer (DOB), workspace observer (WOB)Abstract
This paper presents the workspace/task space control of a two degree of freedom (DOF) two link planar robot manipulator with DC geared motor actuation. Due to the nature of the DC geared motor, PD controller system is designed for each joint of the actuator to minimize the error, improve performance and obtain desired response. This paper includes the modelling of the planar structure and the simulation of workspace control by two methods, inverse kinematics and Direct Cartesian. Then a disturbance compensation called Workspace Observer (WOB) is introduced to improve the Direct Cartesian method. Comparison between the three methods was done. The Direct Cartesian with DOB shows a better trajectory response compared to inverse kinematics.
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