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Title: İki Linkli Robot Manipülatörün Modellenmesi ve Bozucu Etki Altinda Yörünge Kontrolü
Authors: İlgen, Sinan
Durdu, Akif
Gülbahçe, Erdi
Çakan, Abdullah
Keywords: modeling
robot manipulator
sliding mode control
trajectory tracking
Issue Date: 2020
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: This study presents the trajectory control of a two-link planar robot manipulator under disturbance effect. A virtual prototype of the manipulator is built by using ADAMS. Also, the controller design required for the system is performed in MATLAB/Simulink environment. The simulation of the system is done by simultaneous execution (co-simulation) of MATLAB and ADAMS software. The robot manipulator system has two inputs and four outputs. The inputs are the motor torques required to drive both joints, and the outputs are the angles of the two joints and x-y components of end effector position. The Sliding Mode Control (SMC) structure is designed and applied to the system for the control of the robot manipulator under load effect. In the simulation results, it is observed that the SMC structure successfully performed the trajectory tracking of the two-link planar robot manipulator according to the desired trajectory, despite the disturbance effect. © 2020 IEEE.
Description: 4th International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2020 -- 22 October 2020 through 24 October 2020 -- -- 165025
ISBN: 9781728190907
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections

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