Farhan A. Salem

Modeling, Simulation and Control Issues for a Robot ARM; Education and Research (III)

Full Text (PDF, 1108KB), PP.26-39

Views: 0 Downloads: 0

Author(s)

Farhan A. Salem ^1,*

1. Mechatronics sec., Dept. of Mechanical Engineering, College of Engineering, Taif University, 888, Taif, Saudi Arabia

2. Alpha Center for Engineering Studies and Technology Researches, Amman, Jordan

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2014.04.03

Received: 11 May 2013 / Revised: 7 Sep. 2013 / Accepted: 18 Nov. 2013 / Published: 8 Mar. 2014

Index Terms

Robot ARM, DC Machine, Modeling/ Simulation

Abstract

This paper extends writer's previous work and proposes design, modeling and control issues of a simple robot arm design. Mathematical, Simulink models and MATLAB program are developed to return maximum numerical visual and graphical data to select, design, control and analyze arm system. Testing the proposed models and program for different input values, when different control strategies are applied, show the accuracy and applicability of derived models. The proposed are intended for education and research purposes.

Cite This Paper

Farhan A. Salem, "Modeling, Simulation and Control Issues for a Robot ARM; Education and Research (III)", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.4, pp.26-39, 2014. DOI:10.5815/ijisa.2014.04.03

Reference

[1]Chun Htoo Aung, Khin Thandar Lwin, and Yin Mon Myint, Modeling Motion Control System for Motorized Robot arm using MATLAB, World Academy of Science, Engineering and Technology 42 2008.

[2]Ahmad A. Mahfouz ,Mohammed M. K., Farhan A. Salem, Modeling, Simulation and Dynamics Analysis Issues of Electric Motor, for Mechatronics Applications, Using Different Approaches and Verification by MATLAB/Simulink (I). IJISA Vol. 5, No. 5, 39-57 April 2013 .

[3]Norman S. Nise, Control system engineering, sixth edition, John Wiley & Sons, Inc, 2011.

[4]Farhan A. Salem, Modeling controller selection and design of electric DC motor for Mechatronics applications, using different control strategies and verification using MATLAB/Simulink, Submitted to European Scientific Journal, 2013

[5]M.P.Kazmierkowski, H.Tunia "Automatic Control of Converter-Fed Drives", Warszawa 1994.

[6]R.D. Doncker, D.W.J. Pulle, and A. Veltman. Advanced Electri-cal Drives: Analysis, Modeling, Control. Springer, 2011.

[7]Grzegorz SIEKLUCKI,Analysis of the Transfer-Function Models of Electric Drives with Controlled Voltage Source PRZEGL ˛ AD ELEKTROTECHNICZNY (Electrical Review), ISSN 0033-2097, R.88NR7a/2012.

[8]An educational MATLAB m.file applied to PMDC motor controllers design comparison, selection and analysis Ahmad A. Mahfouz, Farhan A. Salem

[9]B. Shah, Field Oriented Control of Step Motors, MSc. Thesis, SVMITB haruch, India, Dec. 2004.

[10]Jamal A. Mohammed, Modeling, Analysis and Speed Control Design Methods of a DC Motor Eng. & Tech. Journal, Vol. 29, No. 1, 2011

[11]R.C. Dorf and R.H. Bishop, Modern Control Systems,10th Edition, Prentice Hall, 2008.

International Journal of Intelligent Systems and Applications (IJISA)