DIGITAL CONTROL OF A HAMMER ROBOT ARM WITH 2 DEGREES OF MOVEMENT

This project focuses on the design and implementation of a program and interface to digitally control a hammer robot arm that is capable of hammering with a force of 1 Newton.
Robotics is an important field in this day and age. The more technology advances, the more the robotic applications being designed and employed due to their advantages. These include high level of accuracy, speed, quantity of production and their ability to work tirelessly. The control of robots and similar engineering systems has been classically done using the analog approach. However in the past few decades, a new method, Digital control design is becoming more and more popular. Digital control design offers a superior design technique as shall be discussed within the following chapters of this project.
Furthermore, in this project, a robotic system is designed and implemented using the powerful mathematical tool ‘MATLAB’. After a study of the system transient, steady state and load disturbance responses, performance criteria are set. Finally, a digital controller is designed to enable the system to meet the desired performance. The compensated system is then analysed.

AttachmentSize
DIGITAL CONTROL OF A HAMMER ROBOT ARM WITH 2 DEGREES OF MOVEMENT.pdf2.09 MB
DIGITAL CONTROL OF A HAMMER ROBOT ARM WITH 2 DEGREES OF MOVEMENT.doc2.7 MB