DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM

摘要

Robotic is a relatively young field of modern technology that exceeds traditional engineering boundaries. Control of the robots is important due to the fact that it has a usage area in many areas. In this study, modelling and control of two degrees of freedom (2-DOF) robotic arm were carried out. Lagrange-Euler method was used to obtain the dynamic equations of the robot. The system was controlled in the simulation environment. Sliding-Mode Control (SMC) and Proportional-Integral-Derivative (PID) control methods were proposed to control the 2 DOF robotic arm. The saturation function is used for the chattering problem of the sliding mode control method. Both process noise and measurement noise have been applied to control the robot in conditions close to the actual ambient conditions. The control methods applied according to the results of the simulation environment were compared and the results were examined.