ACTIVE FORCE CONTROL APPLIED TO A RIGID ROBOT ARM

Authors

  • Musa Mailah Departm ent of Appli ed Mechanic s Faculty of Mechanical Engineering Universiti Teknologi Malaysia
  • J R Hewit J R Hewit Department of APEME University of Dundee, United Kingdom
  • Sheik Meeran Department of APEME University of Dundee, United Kingdom

Keywords:

Keywords

Abstract

The paper presents the implementation of Active Force Control
(AFC) strategy to control a rigid robot arm. The robustness and
effec tiveness of AFC as 'disturbance rejector' is demonstrated
through a simulation study using MATLAB@and SIMULlN~*
software pa ckages. The work is carried out all a rigid two link
planar manipulator experimenting with a number of external
disturbances. The results are directly compared to all equivalent
system which employs the conventional model-based
Proportional-Derivative (PD) control method

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Published

2018-05-21

How to Cite

Mailah, M., J R Hewit, J. R. H., & Meeran, S. (2018). ACTIVE FORCE CONTROL APPLIED TO A RIGID ROBOT ARM. Jurnal Mekanikal, 2(2). Retrieved from https://jurnalmekanikal.utm.my/index.php/jurnalmekanikal/article/view/307

Issue

Section

Mechanical

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