Stability analysis and simulation of a two DOF robotic system based on linear control system

Abstract

The ability to identify and follow a moving object is not only important for human activities, but it is also critical necessity in the use of robots for automation and manufacturing, security applications and for life sciences. This can be achieved by using the two degree of freedom (2-DOF) robotic system with a camera. For this purpose, dynamical models of pan and tilt mechanisms were determined by using Newton-Euler equation. The stability analysis of dynamical models is performed before designing the motion controllers for the 2-DOF robotic system. To perform the analysis and simulation, all the parameters involved in the system dynamics were identified. The objective of this research work is to derive motion controllers for the pan and tilt mechanisms based on dynamical model. These controllers make possible for camera to point in a desired direction within allowable specifications.