Analysis of a robotic system with two DOF using Haar wavelet

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.