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

Issue

Issue 2: December 1996

Section

Mechanical

License

Copyright of articles that appear in Jurnal Mekanikal belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions or any other reproductions of similar nature.

How to Cite

ACTIVE FORCE CONTROL APPLIED TO A RIGID ROBOT ARM. (2018). Jurnal Mekanikal, 2(2). https://jurnalmekanikal.utm.my/index.php/jurnalmekanikal/article/view/307

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