Modeling and control of 5 DOF robot arm using supervisory control

Ahmed Z Alassar, Iyad M Abuhadrous, Hatem A Elaydi
2010 2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE)  
‫اﻟﺟ‬ ‫ــ‬ ‫اﻻﺳﻼﻣﻳﺔ‬ ‫ـﺎﻣـﻌـﺔ‬ -‫ﻏـــزة‬ Deanery of Graduate Studies ‫ﻋــﻣ‬ ‫ـ‬ ‫اﺳ‬ ‫اﻟدر‬ ‫ــﺎدة‬ ‫ـــ‬ ‫اﻟـﻌـﻠـﻳ‬ ‫ـﺎت‬ ‫ـــــ‬ ‫ـ‬ ‫ﺎ‬ Faculty of Engineering ‫ﻛ‬ ‫ـ‬ ‫ـﻠﻳـــــ‬ ‫ــ‬ ‫ــــ‬ ‫اﻟ‬ ‫ــﺔ‬ ‫ـ‬ ‫ــ‬ ‫ﻬ‬ ‫ـــ‬ ‫ﻧدﺳ‬ ‫ـ‬ ‫ـــــــ‬ ‫ـــــ‬ ‫ـــ‬ ‫ــــ‬ ‫ﺔ‬ Electrical Engineering Department ‫ﻗﺳم‬ ‫اﻟـﻬـــﻧدﺳ‬ ‫ـــ‬ ‫ﺔ‬ ‫اﻟﻛـﻬرﺑﺎﺋﻳـــﺔ‬ ABSTRACT Modeling and control of 5 degree of freedom (DOF) robot arm is the subject of this thesis. The modeling problem is necessary before applying
more » ... ntrol techniques to guarantee the execution of any task according to a desired input with minimum error. Deriving both forward and inverse kinematics is an important step in robot modeling based on Denavit Hartenberg (DH) representation. FLC
doi:10.1109/iccae.2010.5451398 fatcat:kehcrulx6rafbe7m7hcjvg6z2m