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dc.contributor.advisorÖzgüler, A. Bülent
dc.contributor.authorGüler, Samet
dc.date.accessioned2016-01-08T18:24:32Z
dc.date.available2016-01-08T18:24:32Z
dc.date.issued2012
dc.identifier.urihttp://hdl.handle.net/11693/15779
dc.descriptionAnkara : The Department of Electrical and Electronics Engineering and the Graduate School of Engineering and Science of Bilkent University, 2012.en_US
dc.descriptionThesis (Master's) -- Bilkent University, 2012.en_US
dc.descriptionIncludes bibliographical references.en_US
dc.description.abstractIn this thesis, servomechanism synthesis for a two-degree-of-freedom (2-DOF) serial chain revolute-revolute joint robot arm that achieves internal stability, reference signal tracking, and torque disturbance regulation is considered. We first derive the dynamic equations of the robot arm with Euler-Lagrange method by ignoring the effects of friction. Then, using system identification methods, we derive a plant model based on data obtained from a real system through experiments. We then employ PD and PID controllers along with the gravity compensation method to stabilize the system using the passivity properties. Alternatively, we linearize the system model and examine the performance of the same controllers. A linear controller is synthesized by invoking the internal model principle and is directly applied to the nonlinear plant model. The proposed fifth order linear controllers at each channel of the robot arm suffices to achieve not only tracking of step, ramp, and sinusoidal signals at one frequency, but also regulation of step, ramp, and sinusoidal disturbances. It is shown via simulations that, even though the plant model is nonlinear, the synthesized linear controller performs better than the commonly used PID controllers.en_US
dc.description.statementofresponsibilityGüler, Sameten_US
dc.format.extentx, 59 leaves, illustrationsen_US
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectDynamic Modelingen_US
dc.subjectSystem Identificationen_US
dc.subjectPassivity-based Controlen_US
dc.subjectServomechanism Synthesisen_US
dc.subjectInternal Model Principleen_US
dc.subject.lccTJ211 .G85 2012en_US
dc.subject.lcshRobots--Control systems.en_US
dc.subject.lcshRobots--Dynamics.en_US
dc.subject.lcshRobots--Mathematical models.en_US
dc.titleTracking and regulation control of a two-degree-of-freedom robot armen_US
dc.typeThesisen_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.publisherBilkent Universityen_US
dc.description.degreeM.S.en_US


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