Active force control applied to a rigid robot arm
The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out...
| Main Authors: | , , |
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| Format: | Article |
| Sprog: | English |
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Faculty of Mechanical Engineering
1996
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| Online adgang: | http://eprints.utm.my/8345/1/MusaMailah1996_ActiveForceControlApplied.pdf |
| _version_ | 1825910187049877504 |
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| author | Mailah, Musa Hewit, J. R. Meeran, Sheik |
| author_facet | Mailah, Musa Hewit, J. R. Meeran, Sheik |
| author_sort | Mailah, Musa |
| collection | ePrints |
| description | The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out on a rigid two link disturbances. The results are directly compared to an equivalent system which employs the conventional model-based Proportional-Derivative (PD) control method. |
| first_indexed | 2024-03-05T18:13:21Z |
| format | Article |
| id | utm.eprints-8345 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T18:13:21Z |
| publishDate | 1996 |
| publisher | Faculty of Mechanical Engineering |
| record_format | dspace |
| spelling | utm.eprints-83452010-06-02T01:54:42Z http://eprints.utm.my/8345/ Active force control applied to a rigid robot arm Mailah, Musa Hewit, J. R. Meeran, Sheik TJ Mechanical engineering and machinery The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out on a rigid two link disturbances. The results are directly compared to an equivalent system which employs the conventional model-based Proportional-Derivative (PD) control method. Faculty of Mechanical Engineering 1996-12 Article PeerReviewed application/pdf en http://eprints.utm.my/8345/1/MusaMailah1996_ActiveForceControlApplied.pdf Mailah, Musa and Hewit, J. R. and Meeran, Sheik (1996) Active force control applied to a rigid robot arm. Jurnal Mekanikal, 2 (2). pp. 52-68. ISSN 0127-3396 http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2 |
| spellingShingle | TJ Mechanical engineering and machinery Mailah, Musa Hewit, J. R. Meeran, Sheik Active force control applied to a rigid robot arm |
| title | Active force control applied to a rigid robot arm |
| title_full | Active force control applied to a rigid robot arm |
| title_fullStr | Active force control applied to a rigid robot arm |
| title_full_unstemmed | Active force control applied to a rigid robot arm |
| title_short | Active force control applied to a rigid robot arm |
| title_sort | active force control applied to a rigid robot arm |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/8345/1/MusaMailah1996_ActiveForceControlApplied.pdf |
| work_keys_str_mv | AT mailahmusa activeforcecontrolappliedtoarigidrobotarm AT hewitjr activeforcecontrolappliedtoarigidrobotarm AT meeransheik activeforcecontrolappliedtoarigidrobotarm |