Six Degrees of Freedom Robotic Testbed for Control Systems Laboratory

被引：0
|
作者：
Arshad, Muhammad Awais [1 ]
Gulzar, Muhammad Majid [1 ]
Qureshi, Jawad Khalid [1 ]
Hayat, Aamir [1 ]
Shamir, Mohammad [2 ]
Ahmed, Fawad [2 ]
Rasheed, Sadia [2 ]
机构：
[1] Univ Cent Punjab, Fac Engn, Lahore, Pakistan
[2] Water & Power Dev Author, Natl Transmiss & Despatch Co, Lahore, Pakistan
来源：
2017 INTERNATIONAL SYMPOSIUM ON RECENT ADVANCES IN ELECTRICAL ENGINEERING (IEEE RAEE) | 2017年
关键词：
ball-plate system; control system; degrees of freedom; rotary; robotic testbed; Stewart; STEWART PLATFORM; KINEMATICS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing payload. Robotic maneuvers in platform are generated through rotary Stewart-Gough mechanism using inverse kinematic algorithm. Ball-plate balancing payload is fixed on top of platform. This paper presents a comparison among generic testbeds, available at standard control system laboratories. Design of robotic platform along with payload has been detailed and tested with software simulations in MATLAB Simulink. This work explains complete electrical, mechanical and software design along with development, testing and results.
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页数：6
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