Analysis of Three-Link Position Control during Sit to Stand Motion

Authors

  • Mohd Zaki Ghazali Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Muhammad Fahmi Miskon Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Fariz Ali Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • D. Mohd Bazli Bahar Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.

Keywords:

Three-Link Humanoid, Sit to Stand, Mass,

Abstract

This paper presents characteristics study of Sit to Stand ( STS ) motion. There are several model of STS including telescopic inverted pendulum, single-link, two-link and threelink(3L). Of all the system, 3L are chosen because of similar segment with human body. Previous study find a difficulty to analyze STS motion especially when the mass is changes. The characteristic of STS motion is not empirically conducted on the joint of each link. Hence the objective of the work presented here is to study the effect mass changes to each joint. Results shows that there is a possibility to estimate maximum torque needed by each link with equation derive from the experiment.

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Published

2016-10-01

How to Cite

Ghazali, M. Z., Miskon, M. F., Ali, F., & Bahar, D. M. B. (2016). Analysis of Three-Link Position Control during Sit to Stand Motion. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 8(7), 77–82. Retrieved from https://jtec.utem.edu.my/jtec/article/view/1283

Issue

Vol. 8 No. 7: Pioneering Future Innovation Through Green Technology III

Section

Articles

License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)

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