DESIGN AND CONTROL OF 3 DOFs ROBOT MANIPULATORS IN JOINT SPACE
Abstract
This paper presents the steps to design and test a system control in joint space applies for a robotic manipulator with 3 degrees of freedom (DOFs) based on independent control method. The control object is the joint of the robot that creates motion by the actuators of the DC motor.Content includes: modeling of manipulators, sewing materialsOperate, calculate and design a classic PID controller with three feedback loops of position, velocity and acceleration. Use Matlab/SIMULINK software to simulate and verify the results according to the standards of accuracy, stable operation and fast processing speed required for the method.
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