Title :
Catching algorithm for 2D robot manipulator using PD controller
Author :
Lin, Chyi-Yeu ; Le Duc, Hanh ; Chiu, Yi-Pin
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan
Abstract :
This paper presents the catching control method using conventional PD controller. Firstly the mathematical model is derived for 2DOF catching robot, the equation is constructed based on the real author´s developed catching robot, then the PD controller will be designed for the manipulator to follow the trajectory created by the object on 2D plane when it travel in the perpendicular plane and catch it. We confirm the effectiveness of the proposed method by computer simulation. In the future we will implement the PD controller to the real machine.
Keywords :
PD control; manipulators; position measurement; 2D robot manipulator; 2DOF catching robot; PD controller; catching algorithm; computer simulation; mathematical model; Cameras; Computer simulation; Equations; Humans; Machine vision; Manipulator dynamics; Mathematical model; Mobile robots; PD control; Robot vision systems; PD controller; catching robot; tracking simulation;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
