DESIGN AND CONTROL OF 3 DOFs ROBOT MANIPULATORS IN JOINT SPACE

  • Le Thi Minh Tam Hung Yen University of Technology and Education
  • Nguyen Viet Ngu Hung Yen University of Technology and Education
  • Phan Bich Ngoc Hung Yen University of Technology and Education
Keywords: Control of robot manipulators in joint space, PID controler, Robot Control, 3 DOF Robot Manipulator

Abstract

This paper presents the steps to design and test a system control in joint space applies for a robotic manipulator with 3 degrees of freedom (DOFs) based on independent control method. The control object is the joint of the robot that creates motion by the actuators of the DC motor.Content includes: modeling of manipulators, sewing materialsOperate, calculate and design a classic PID controller with three feedback loops of position, velocity and acceleration. Use Matlab/SIMULINK software to simulate and verify the results according to the standards of accuracy, stable operation and fast processing speed required for the method.

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Published
2023-06-30
How to Cite
Le Thi Minh Tam, Nguyen Viet Ngu, & Phan Bich Ngoc. (2023). DESIGN AND CONTROL OF 3 DOFs ROBOT MANIPULATORS IN JOINT SPACE. UTEHY Journal of Applied Science and Technology, 38, 43-47. Retrieved from http://tapchi.utehy.edu.vn/index.php/jst/article/view/610