DESIGN & CONTROL OF A 5 DOF SERIAL MANIPULATOR
This image shows the 3D Pro- E model of a 5 degrees of freedom (RRPRR) manipulator for the project described below: The goal of this project was to mount a mine-disruptor on a UGV. It would serve the task of successfully neutralizing a landmine in a secure settting. The robotic manipulator for the disruptor unit is capable of 5 degrees of freedom (RRPRR), and the disruptor utilizes a water jet stream for neutralization of mines or mortars. Appropriate motors and materials were selected. This project was implemented using design considerations of forward/inverse kinematics, torque, velocity, stress analysis. We designed the model in Pro- Engineer (Wildfire) and carried out the Dynamic analysis of the manipulator using Matlab Robotics toolbox, computing the forward and reverse dynamics where necessary. A control methodology for the system was developed by means of a control scheme i.e Proportional Integral Derivative (PID) control.
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