publication . Thesis

Intelligent model-based control of complex three-link mechanisms

Kamil, Haider;
Open Access English
  • Country: United Kingdom
The aim of this study is to understand the complexity and control challenges of the locomotion of a three-link mechanism of a robot system. In order to do this a three-link robot gymnast (Robogymnast) has been built in Cardiff University. The Robogymnast is composed of three links (one arm, one torso, one leg) and is powered by two geared DC motors. Currently the robot has three potentiometers to measure the relative angles between adjacent links and only one tachometer to measure the relative angular position \ud of the first link. \ud A mathematical model for the robot is derived using Lagrange equations. Since the model is inherently nonlinear and multivariat...
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