Position and Speed Control of 2 DOF Industrial Robotic Arm using Robust Controllers

Scienceopen Journal 2020 (10):8 (2020)
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In this paper, a 2 DOF industrial robotic arm is designed and simulated for elbow and wrist angle and velocity performance improvement using robust control method. Mixed H 2 /H ∞ synthesis with regional pole placement and H 2 optimal controllers are used to improve the system output. The open loop response of the robot arm shows that the elbow and wrist angles and velocities need some improvement. Comparison of the proposed controllers for an impulse and step input signals have been done and a promising results have been obtained.

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Mustefa Jibril
Dire Dawa University


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