Construction, Modelling and Identification of an Experimental and Educational 2DOF Manipulator for Investigation of Model Based Control Algorithms

摘要

The article presents a modernized 2R planar manipulator at Wroclaw University of Science and Technology designed for testing and development of control algorithms. The main attention is focused on the model development and verification with taking into account the specificity of the construction. In particular, the key stages of model development are presented and discussed. In turn, the model quality is elicited from the model verification which includes the results of experiments with the open and closed loop system.