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Mete Kalyoncu
Konya Technical University
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Dört Ayaklı Robotlar İçin Hidrolik Tahrikli Bir Bacak Geliştirilmesi - Development Of a Hydraulically Actuated Leg for Quadruped Robots View project
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I. INTRODUCTION
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Figure 3: MATLAB/Simulink model of DC motor [12]
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International Conference on Engineering Technologies (ICENTE’17), Dec 07-09, 2017 Konya, Turkey
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Firstly, to show the performance of the controllers, step
input reference given the system. Step input response REFERENCES
demonstrate in Figure 7. As seen from Figure 7, PID [1] M. R. Bin Tarmizi, “Design And Modelling Of 6 Dof Revolute Robot
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[11] Available:https://b2b.partcommunity.com/3d-cad-models/
The PID controllers gains tuned with auto-tune method in [12] Available:http://ctms.engin.umich.edu/CTMS/index.php?example=Moto
MATLAB. Accuracy of proposed modeling technique is verified rPosition§ion=SimulinkModeling
by simulations. In simulations, the responses to step inputs of
system are examined and investigated firstly. Later, a marking
process is designed as a reference input and applied to the scara
robot. As a result of the paper, proposed modeling approach is
implemented and the PID controllers are designed and used in
control methodology successfully. In addition, this study will
contribute to the work about modeling and control of scara robot.
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