Title: Stability analysis and simulation of a two DOF robotic system based on linear control system

Authors: Imran S. Sarwar, Afzaal M. Malik

Addresses: Department of Mechanical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Rawalpindi 46000, Pakistan. ' Department of Mechanical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Rawalpindi 46000, Pakistan

Abstract: The ability to identify and follow a moving object is not only important for human activities, but it is also critical necessity in the use of robots for automation and manufacturing, security applications and for life sciences. This can be achieved by using the two degree of freedom (2-DOF) robotic system with a camera. For this purpose, dynamical models of pan and tilt mechanisms were determined by using Newton-Euler equation. The stability analysis of dynamical models is performed before designing the motion controllers for the 2-DOF robotic system. To perform the analysis and simulation, all the parameters involved in the system dynamics were identified. The objective of this research work is to derive motion controllers for the pan and tilt mechanisms based on dynamical model. These controllers make possible for camera to point in a desired direction within allowable specifications.

Keywords: stability analysis; robotic systems; linear control; robot control; robot simulation; robot vision; dynamical modelling; robot dynamics; motion control; robot motion; pan and tilt mechanisms.

DOI: 10.1504/IJISTA.2010.030186

International Journal of Intelligent Systems Technologies and Applications, 2010 Vol.8 No.1/2/3/4, pp.3 - 17

Available online: 11 Dec 2009 *

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