Conference Paper
Robot manipulator modeling in MatlabSimMechanics with PD control and online gravity compensation
DOI: 10.1109/IFOST.2010.5668085 Conference: Strategic Technology (IFOST), 2010 International Forum on
Source: IEEE Xplore

Conference Paper: Explicit kinematic model of the Mitsubishi RVM1 robot arm
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ABSTRACT: A complete kinematic model of the 5 DOFMitsubishi RVM1 manipulator is presented in this paper. The forward kinematic model is based on the Modified DenavitHartenberg notation, and the inverse one is derived in closed form by fixing the orientation of the tool. A graphical interface is developed using MATHEMATICA software to illustrate the forward and inverse kinematics, allowing student or researcher to have handson of virtual graphical model that fully describe both the robot's geometry and the robot's motion in its workspace before to tackle any real task.Control, Automation and Information Sciences (ICCAIS), 2012 International Conference on; 01/2012  [Show abstract] [Hide abstract]
ABSTRACT: This paper describes the design of a fuzzy adaptive sliding mode controller for tracking control of robotic manipulators. The proposed controller incorporates a modified traditional sliding mode controller to drive the system state to a sliding surface and then keep the system state on this surface, and a fuzzy logic controller to accelerate the reaching phase. The stability of the control system is ensured by using Lyapunov theory. To verify the effectiveness of the proposed controller, computer simulation is conducted for a fivebar planar robotic manipulator. The simulation results show that the proposed controller can improve the reaching time and eliminate chattering of the control system at the same time.Journal of Institute of Control, Robotics and Systems. 06/2012; 18(6).
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