Position control of two degree of freedom mobil manipulator

POSITION CONTROL OF TWO DEGREE OF FREEDOM MOBILMANIPULATOR(M. Sc. Thesis)Fırat YÜCELGAZ UNIVERSITYINSTUTE OF SCIENCE AND TECHNOLOGYSeptember 2006ABSTRACTTo find the dynamic model of mobile manipulator having two degrees offreedom and to achieve the position control of manipulator is the maintarget of this study. As manipulator system is a nonlinear system,linearization process was carried out. The linearization process was realized byfinding equations that express small deviations around nominal trajectory. PIDcontroller was used as control design instrument in the system. Accelerationspropagating from ground in x0 and y 0 directions, were applied to the systemand the results were scrutinized . Rlocus function in the environment of Matlabwas utilized for the system stability.Science Code :914.1.091Keywords :Position control , manipulator , roboticPage number :81Adviser :Prof . Dr. Mehmet EROĞLU