1. Mihailo Lazarevic, Машински факултет Универзитета у Београду, Serbia
2. Petar Mandić, Univeristy of Belgrade, Faculty of Mechanical Engineering, Serbia
3. Тихомир Латиновић, Машински факултет Универзитета у Бањој Луци,
Republic of Srpska, Bosnia and Herzegovina
4. Trygve Thomessen, PPM AS, Norway
In this paper they are presented possibilities an advanced control and simulation of 7 DOF`s NeuroArm robotic arm. The NeuroArm robot comes with a suite of software including a MATLAB configuration and a suite of C, API libraries and low level protocols for all joint level controls and sensors. This robot has a highly configurable advanced PID controllers as well as a 7 DOF force feedback haptic joystick is available as an optional extra and this enables remote control of the robot, via the web, coupled with the ability to “feel” what the robot feels. First of all, it will be demonstrated control and simulation of given robotic system which is based on using of Windows GUI Tool - Windows graphical interface. Then,it will be considered applying possibilities of advanced PID controllers based on advanced control algorithms including fractional order control algorithms based on fractional calculus in solving position, tracking and/or remote control task of given robotic system.
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Датум:
16.01.2013.
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