Analysis of a robotic system with two DOF using Haar wavelet

Author

Pandey, Atul Kumar ; Mittal, Monika

Author_Institution

Dept. of Electr. Eng., Nat. Inst. of Technol., Kurukshetra, India

fYear

2014

Firstpage

1

Lastpage

5

Abstract

This paper deals with the stability analysis of a robotic system, popularly known as pan tilt platform (PTP), with two degrees of freedom (DOF) using Haar wavelet. It has two revolute joints combining tilt mechanism with pan mechanism. Dynamic model of this robotic system is obtained using Newton-Euler equation. The stability analysis of its dynamic model is carried out using Haar wavelet for the first time. The objective of this paper is to achieve computational savings in the process. The obtained computational savings are tabulated and bar graphed to show comparison with the analytical technique.

Keywords

Haar transforms; robot dynamics; stability; wavelet transforms; Haar wavelet; Newton-Euler equation; PTP; computational savings; dynamic model; pan mechanism; pan tilt platform; robotic system analysis; stability analysis; tilt mechanism; two DOF; two degrees of freedom; Cameras; Computational modeling; Mathematical model; Robot vision systems; Wavelet analysis; Wavelet transforms; Haar wavelet; Two DOF robotic system (Pan and tilt mechanism); linear time invariant system; operational matrices; stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics (IICPE), 2014 IEEE 6th India International Conference on

Print_ISBN

978-1-4799-6045-3

Type

conf

DOI

10.1109/IICPE.2014.7115827

Filename

7115827