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Comparative analysis for kinematics of 5-DOF industrial robotic manipulator

Manjaree S., Nakra B. C., Agarwal V.

Acta Mechanica et Automatica

2015

Vol. 9, no. 4

229--240

This paper gives the kinematic analysis of a 5-DOF industrial robotic manipulator while considering wrist in motion. Analytical solutions have been obtained for forward kinematics and inverse kinematics to accurately position the end-effector of robotic manipulator in three dimensional spaces. For the first time, a hybrid neuro-fuzzy intelligent technique with two different membership functions has been studied and their performances are comparatively evaluated with analytical solutions. An experiment has been performed for a desired trajectory. It is seen that the results for the intelligent technique are reasonably in agreement with experiment. Also, the results obtained highlight the importance of selection of a particular membership function for robotic manipulators of industrial use.

Robust multirate output feedback sliding mode controller for sensorless induction motor

Abera A., Bandyopadhyay B., Agarwal V.

Systems Science

2006

Vol. 32, no 1

57-69

In this paper, the design of sensorless induction motor speed controller using the concept of multirate output feedback discrete-time sliding mode control technique is proposed. The nonlinear model of the motor is linearized at its operating point and the multirate output feedback discrete time sliding mode control using output samples is designed and the same is applied to nonlinear model of the motor at its operating (equilibrium) point. This method does not require the complete states of the system for feedback and is easily implementable.