Universiti Teknologi Malaysia Institutional Repository

Active force control applied to a rigid robot arm

Mailah, Musa and Hewit, J. R. and Meeran, Sheik (1996) Active force control applied to a rigid robot arm. Jurnal Mekanikal, 2 (2). pp. 52-68. ISSN 0127-3396

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Abstract

The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out on a rigid two link disturbances. The results are directly compared to an equivalent system which employs the conventional model-based Proportional-Derivative (PD) control method.

Item Type:Article
Uncontrolled Keywords:active force control (AFC), rigid robot arm
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:8345
Deposited By: Ms Zalinda Shuratman
Deposited On:23 Apr 2009 06:12
Last Modified:02 Jun 2010 01:54

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