İki Linkli Robot Manipülatörün Modellenmesi ve Bozucu Etki Altında Yörünge Kontrolü

摘要

This study presents the trajectory control of a two-link planar robot manipulator under disturbance effect. A virtual prototype of the manipulator is built by using ADAMS. Also, the controller design required for the system is performed in MATLAB/Simulink environment. The simulation of the system is done by simultaneous execution (co-simulation) of MATLAB and ADAMS software. The robot manipulator system has two inputs and four outputs. The inputs are the motor torques required to drive both joints, and the outputs are the angles of the two joints and x-y components of end effector position. The Sliding Mode Control (SMC) structure is designed and applied to the system for the control of the robot manipulator under load effect. In the simulation results, it is observed that the SMC structure successfully performed the trajectory tracking of the two-link planar robot manipulator according to the desired trajectory, despite the disturbance effect.