C. Zaoui, Helmi Abrougui, Mohamed Amine Meftah, Saber Hachicha, Ahmed Moulhi, Habib Dallagi
{"title":"Mechanical Design and Control of an Arm with Two Degrees of Freedom for Inspection and Cleaning Operations","authors":"C. Zaoui, Helmi Abrougui, Mohamed Amine Meftah, Saber Hachicha, Ahmed Moulhi, Habib Dallagi","doi":"10.1109/IC_ASET53395.2022.9765933","DOIUrl":null,"url":null,"abstract":"This paper deals with the modeling and control of an autonomous arm with two degrees of freedom. The arm mechanical design was firstly proposed and described. It is designed for ship inspection and cleaning operations. The proposed control technique was developed using sliding mode control combined with feedback linearization approach. Simulation results were carried out to show the effectiveness of the proposed control law.","PeriodicalId":6874,"journal":{"name":"2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)","volume":"239 1","pages":"532-537"},"PeriodicalIF":0.0000,"publicationDate":"2022-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IC_ASET53395.2022.9765933","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
This paper deals with the modeling and control of an autonomous arm with two degrees of freedom. The arm mechanical design was firstly proposed and described. It is designed for ship inspection and cleaning operations. The proposed control technique was developed using sliding mode control combined with feedback linearization approach. Simulation results were carried out to show the effectiveness of the proposed control law.
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