Six degrees of freedom robotic testbed for control systems laboratory

Muhammad Awais Arshad; Muhammad Majid Gulzar; Jawad Khalid Qureshi; Aamir Hayat; Mohammad Shamir; Fawad Ahmed; Sadia Rasheed

doi:10.1109/RAEE.2017.8246147

Six degrees of freedom robotic testbed for control systems laboratory

Muhammad Awais Arshad, Muhammad Majid Gulzar, Jawad Khalid Qureshi, Aamir Hayat, Mohammad Shamir, Fawad Ahmed, Sadia Rasheed

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

A 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing payload. Robotic maneuvers in platform are generated through rotary Stewart-Gough mechanism using inverse kinematic algorithm. Ball-plate balancing payload is fixed on top of platform. This paper presents a comparison among generic testbeds, available at standard control system laboratories. Design of robotic platform along with payload has been detailed and tested with software simulations in MATLAB Simulink. This work explains complete electrical, mechanical and software design along with development, testing and results.

Original language	English
Title of host publication	2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017
Editors	Muhammad Shahid Nazir, Sufi Tabassum Gul, Shahzad Nadeem
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538622346
DOIs	https://doi.org/10.1109/RAEE.2017.8246147
State	Published - 28 Jun 2017
Externally published	Yes
Event	3rd IEEE International Symposium on Recent Advances in Electrical Engineering, RAEE 2017 - Islamabad, Pakistan Duration: 24 Oct 2017 → 26 Oct 2017

Publication series

Name	2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017
Volume	2018-January

Conference

Conference	3rd IEEE International Symposium on Recent Advances in Electrical Engineering, RAEE 2017
Country/Territory	Pakistan
City	Islamabad
Period	24/10/17 → 26/10/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Stewart
ball-plate system
control system
degrees of freedom
robotic testbed
rotary

ASJC Scopus subject areas

Signal Processing
Electrical and Electronic Engineering
Control and Optimization
Instrumentation

Access to Document

10.1109/RAEE.2017.8246147

Cite this

Arshad, M. A., Gulzar, M. M., Qureshi, J. K., Hayat, A., Shamir, M., Ahmed, F., & Rasheed, S. (2017). Six degrees of freedom robotic testbed for control systems laboratory. In M. S. Nazir, S. T. Gul, & S. Nadeem (Eds.), 2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017 (pp. 1-6). (2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RAEE.2017.8246147

Arshad, Muhammad Awais ; Gulzar, Muhammad Majid ; Qureshi, Jawad Khalid et al. / Six degrees of freedom robotic testbed for control systems laboratory. 2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017. editor / Muhammad Shahid Nazir ; Sufi Tabassum Gul ; Shahzad Nadeem. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-6 (2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017).

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title = "Six degrees of freedom robotic testbed for control systems laboratory",

abstract = "A 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing payload. Robotic maneuvers in platform are generated through rotary Stewart-Gough mechanism using inverse kinematic algorithm. Ball-plate balancing payload is fixed on top of platform. This paper presents a comparison among generic testbeds, available at standard control system laboratories. Design of robotic platform along with payload has been detailed and tested with software simulations in MATLAB Simulink. This work explains complete electrical, mechanical and software design along with development, testing and results.",

keywords = "Stewart, ball-plate system, control system, degrees of freedom, robotic testbed, rotary",

author = "Arshad, \{Muhammad Awais\} and Gulzar, \{Muhammad Majid\} and Qureshi, \{Jawad Khalid\} and Aamir Hayat and Mohammad Shamir and Fawad Ahmed and Sadia Rasheed",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 3rd IEEE International Symposium on Recent Advances in Electrical Engineering, RAEE 2017 ; Conference date: 24-10-2017 Through 26-10-2017",

year = "2017",

month = jun,

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doi = "10.1109/RAEE.2017.8246147",

language = "English",

series = "2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017",

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Arshad, MA, Gulzar, MM, Qureshi, JK, Hayat, A, Shamir, M, Ahmed, F & Rasheed, S 2017, Six degrees of freedom robotic testbed for control systems laboratory. in MS Nazir, ST Gul & S Nadeem (eds), 2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017. 2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 3rd IEEE International Symposium on Recent Advances in Electrical Engineering, RAEE 2017, Islamabad, Pakistan, 24/10/17. https://doi.org/10.1109/RAEE.2017.8246147

Six degrees of freedom robotic testbed for control systems laboratory. / Arshad, Muhammad Awais; Gulzar, Muhammad Majid; Qureshi, Jawad Khalid et al.
2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017. ed. / Muhammad Shahid Nazir; Sufi Tabassum Gul; Shahzad Nadeem. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-6 (2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Arshad MA, Gulzar MM, Qureshi JK, Hayat A, Shamir M, Ahmed F et al. Six degrees of freedom robotic testbed for control systems laboratory. In Nazir MS, Gul ST, Nadeem S, editors, 2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-6. (2017 International Symposium on Recent Advances in Electrical Engineering, RAEE 2017). doi: 10.1109/RAEE.2017.8246147

Six degrees of freedom robotic testbed for control systems laboratory

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this