Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization |
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| Authors: | Syed Ali Ajwad Raza Ul Islam Ahmed Alsheikhy Abdullah Almeshal Adeel Mehmood |
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| Affiliation: | 1. Department of Electrical Engineering, COMSATS Institute of Information Technology, Islamabad, Pakistan;2. Faculty of Engineering and Science, Aalborg University, Aalborg, Denmark;3. Department of Electrical Engineering, Northern Border University, Arar, Kingdom of Saudi Arabia;4. Electronics and Communication Department, Public Authority for Applied Education and Training, Kuwait City, Kuwait |
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| Abstract: | Robots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability, particularly in an environment polluted with disturbances and uncertainties. This research aims to present a design of the modern control strategies for a 6 degree of freedom robotic manipulator. Based on derived kinematic and dynamic models of the robot, optimal and robust control strategies are simulated and practically realized on a custom developed pseudo-industrial framework named as AUTonomous Articulated Robotic Educational Platform. Results of the experimental trials in terms of trajectory tracking demonstrate efficiency and usefulness of the presented control approaches. |
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| Keywords: | AUTAREP manipulator autonomous mechatronics process industrial robotic manipulator robotic arm control |
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