Industrial robot is extensively used in all major manufacturing and assembly line throughout the world. In order to properly actuate the robot links, it is necessary to calculate the torque required at link joints. In this paper we consider a two degrees of freedom robot manipulator having two rotary joints J1 and J2. This is a classic example of inverse dynamics problem, inverse dynamics in robotics used to calculate torque or force required at joints from known values of link mass, velocity, and acceleration and we choose lagrangian formulation to solve equation of motion. In addition, Robo analyzer software we plot the torque values for predefined value of centre of gravity and link mass.
By introducing an "antinoise" wave through secondary sources the active noise control (ANC) is achieved. Through an electronic system, the secondary sources are connected using a specific signal processing algorithm for the particular cancellation method. In this paper, we propose a method which is combination of both Feed-forward and Feedback active noise control systems called Hybrid active noise control (H-ANC) method. This method uses lower order filters and also reduces distortion generated by the feedback ANC. So this method is relatively more stable than feedback ANC. The Computation requirements for Hybrid ANC would be high and real-time implementations during one cycle. The algorithm generate the inverse waveform of the signal by collecting the noise information and update the filter coefficients effectively.Keywords-Active noise canceling model, secondary path estimation, feed forward ANC technique, feedback ANC technique.
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