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Mechatronic design and development of a robotic arm

Mohamed, Zulkifli (2006) Mechatronic design and development of a robotic arm. Masters thesis, Universiti Teknologi Malaysia, Faculty of Mechanical Engineering.

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Abstract

In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control scheme and disturbances to the robot arm. The results from the simulation are used and compared with experimental results. It is proven that a robot arm having a PD-AFC scheme is very robust and stable compare to PD control.

Item Type:Thesis (Masters)
Additional Information:Thesis (Sarjana Kejuruteraan (Mekanikal)) - Universiti Teknologi Malaysia, 2006; Supervisor : Assoc. Prof. Dr. Musa bin Mailah
Uncontrolled Keywords:small scale robot arm, rig, simulation algorithm, simulink environment
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:9681
Deposited By: Ms Zalinda Shuratman
Deposited On:20 Jan 2010 02:55
Last Modified:19 Nov 2012 06:19

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