Year 2013, Volume 17 , Issue 1, Pages 155 - 160 2013-04-01

Modelling and Control of 5 dof Robotic Arm
5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü

Nurettin Gökhan Adar [1] , Hüseyin Ören [2] , Recep Kozan [3]


In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.
In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.
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Primary Language tr
Subjects Engineering
Published Date Nisan
Journal Section Research Articles
Authors

Author: Nurettin Gökhan Adar

Author: Hüseyin Ören

Author: Recep Kozan

Dates

Application Date : April 3, 2013
Acceptance Date : April 4, 2013
Publication Date : April 1, 2013

Bibtex @research article { saufenbilder220556, journal = {Sakarya University Journal of Science}, issn = {1301-4048}, eissn = {2147-835X}, address = {}, publisher = {Sakarya University}, year = {2013}, volume = {17}, pages = {155 - 160}, doi = {10.16984/saufbed.22465}, title = {5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü}, key = {cite}, author = {Adar, Nurettin Gökhan and Ören, Hüseyin and Kozan, Recep} }
APA Adar, N , Ören, H , Kozan, R . (2013). 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. Sakarya University Journal of Science , 17 (1) , 155-160 . Retrieved from http://www.saujs.sakarya.edu.tr/en/issue/20670/220556
MLA Adar, N , Ören, H , Kozan, R . "5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü". Sakarya University Journal of Science 17 (2013 ): 155-160 <http://www.saujs.sakarya.edu.tr/en/issue/20670/220556>
Chicago Adar, N , Ören, H , Kozan, R . "5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü". Sakarya University Journal of Science 17 (2013 ): 155-160
RIS TY - JOUR T1 - 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü AU - Nurettin Gökhan Adar , Hüseyin Ören , Recep Kozan Y1 - 2013 PY - 2013 N1 - DO - T2 - Sakarya University Journal of Science JF - Journal JO - JOR SP - 155 EP - 160 VL - 17 IS - 1 SN - 1301-4048-2147-835X M3 - UR - Y2 - 2013 ER -
EndNote %0 Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü %A Nurettin Gökhan Adar , Hüseyin Ören , Recep Kozan %T 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü %D 2013 %J Sakarya University Journal of Science %P 1301-4048-2147-835X %V 17 %N 1 %R %U
ISNAD Adar, Nurettin Gökhan , Ören, Hüseyin , Kozan, Recep . "5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü". Sakarya University Journal of Science 17 / 1 (April 2013): 155-160 .
AMA Adar N , Ören H , Kozan R . 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. SAUJS. 2013; 17(1): 155-160.
Vancouver Adar N , Ören H , Kozan R . 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. Sakarya University Journal of Science. 2013; 17(1): 160-155.