Change search
ReferencesLink to record
Permanent link

Direct link
Planar Robot Arm Modelling and Control
Mälardalen University, School of Innovation, Design and Engineering.
2012 (English)Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The thesis objective is to model a one link robotic arm mounted on a sliding mobile platform and to investigate different control strategies under the effect of gravity and external force disturbance. For simplicity the robotic set up can be modelled and controlled as an inverted pendulum moving on a non constant sloping surface.

Firstly the control is done on level ground. This lower mathematical complexity will be taken as an advantage to approach the analysis on aspects more related with control theory: several control techniques and observers, steady state error study, etcetera.

Afterwards the control is generalized for sloping grounds. This chapter will seek situations closer to reality, the purpose is to design something with practical interests, like model a Segway.

Place, publisher, year, edition, pages
2012. , 78 p.
National Category
Control Engineering
URN: urn:nbn:se:mdh:diva-14883OAI: diva2:537063
2012-06-15, Gamma, Mälardalens högskola, Box 883, 721 23 Västerås, Sweden, Västerås, 08:15 (English)
Available from: 2012-06-27 Created: 2012-06-25 Last updated: 2012-06-27Bibliographically approved

Open Access in DiVA

fulltext(1178 kB)852 downloads
File information
File name FULLTEXT01.pdfFile size 1178 kBChecksum SHA-512
Type fulltextMimetype application/pdf

By organisation
School of Innovation, Design and Engineering
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 852 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 165 hits
ReferencesLink to record
Permanent link

Direct link