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Modeling And Simulation Of 3 Degree Of Freedom Of Robot Manipulator

Choong, Kwan Hun (2005) Modeling And Simulation Of 3 Degree Of Freedom Of Robot Manipulator. Project Report. UTeM, Melaka Malaysia. (Submitted)

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Abstract

This project is about modeling and simulation of a 3 degree of freedom (DOF) of robot manipulator. This project will be carried forward for further research on pitch rejection research. To model the robot manipulator, many journals have been studied to find out the mathematic derivation to model a robot arm. They are kinematic model and inverse kinematic of 3-DOF robot manipulator. The forward and inverse kinematic will be presented in this study and they will be validated. The robot manipulator will be combined with a 7-DOF vehicle model to do pitch rejection control. PID control is used in cancelling the vibration that suffered by the robot manipulator. The effectiveness of the controller that is used in this study will be discussed detail in this thesis.

Item Type: Monograph (Project Report)
Uncontrolled Keywords: Robots -- Control systems Robots -- Kinematics Manipulators (Mechanism)
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Library > Projek Sarjana Muda > FKM
Depositing User: Nik Syukran Muiz Rashid
Date Deposited: 27 Jan 2015 08:24
Last Modified: 28 May 2015 04:20
URI: http://eprints.utem.edu.my/id/eprint/11870

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