Students: Iman Sharifi, Alireza Khajeh-zadeh
Modeling Dynamic:
Four methods used for dynamic modeling of 2WMBR:
- 1-Integrated Multiplier Method
- 2-Augmented Method
- 3-Elimination Method
- 4-Greenwood Method
Comparizon between modeling and reality:
Implemented Control Algorithms:
- 1-PID Control
- 2-State Feedback with Observer
Noise Reduction Using Kalman Filter:
Design of the robot in SOLIDWORKS:
Assembled robot:
Performance:
Stability On Ramp: The proposed controller can stabilize the robot on a ramp.