VIETNAM NATIONAL UNIVERSITY, HANOI

INTERNATIONAL SCHOOL

STUDENT RESEARCH PROPOSAL

THE IMPACTS OF FINANCIAL LITERACY AND FINANCIAL INCLUSION

ON PERSONAL SAVING BEHAVIORS

Team Leader: Nguyễn Danh Việt Anh

ID: 20070084
Class: IB2020C

Hanoi, ……………………2023
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1. Team Member: (no more than 5 people)

No Full name ID Class Signature
1 Nguyễn Lâm Thanh Tùng 22070144 AAI2022A
2 Hoàng Trung Quân 22070033 AAI2022B
2. Introduction (Literature review, issues, maximum 300 words)

Robot manipulators are key components of robotic systems, emulating human arm
movements to perform various tasks. Designing controller and analyzing mathematical
models are crucial for their precise and efficient operation. Understanding the
manipulator's kinematics and dynamics through mathematical modeling is essential. This
helps optimize performance, improve precision, and maintain stability during tasks. It
also identifies constraints, enabling engineers to refine designs and control algorithms for
enhanced functionality and adaptability. Developing control algorithms is vital for
ensuring accurate and swift task execution. These algorithms govern joint movement,
optimize trajectories, and manage complex tasks like path planning and obstacle
avoidance, enhancing the manipulator's performance and safety.

3. The necessity of research project

Research on a new stabilization approach for manipulators is vital as it can enhance

safety, precision, and efficiency in various industrial and service applications. This
exploration can also drive the advancement of automation technologies, fostering
innovation and knowledge development in robotics while training skilled professionals
for future manipulator systems.

4. Research Objectives and Scope

We selected the PUMA 560 robotic arm for our research on robot manipulators due to its
widespread recognition and impact on automated manufacturing. Known for its
adaptability and precise performance, the PUMA 560 boasts six degrees of freedom and a
cylindrical work envelope, making it a valuable asset in tasks such as assembly, welding,
and material handling. Its significant role in enhancing production efficiency and
accuracy across diverse manufacturing settings underscores its importance in industrial
applications.
The objectives and scope that we focus on the reseach is:

● Kinematic Analysis: Conduct a detailed investigation into the kinematic

properties of the PUMA 560, including its degrees of freedom, workspace, and
reachability, to understand its spatial capabilities and limitations.

● Control System Analysis: Analyze the control system architecture of the PUMA
560, including its feedback control mechanisms, trajectory planning algorithms,
and real-time control strategies, with the goal of enhancing its precision and
adaptability for complex tasks.

● Simulation: Using MATLAB/Simulink validating the accuracy of the object's

mathematical model, along with showcasing the stability and effectiveness of
applying control techniques to the robot.

● Documentation and Knowledge Dissemination: Document the research

findings, methodologies, and analyses in a comprehensive report, and disseminate
the outcomes through scholarly publications, conference presentations, and
industry forums to contribute to the advancement of knowledge in the field of
industrial robotics and automation.

5. Research Methods

The research methodology entails a comprehensive understanding of the mathematical

model governing the robot, coupled with an in-depth review of prior research articles and
related products. By combining these insights, the study is able to make informed
decisions regarding the selection of research methods to effectively control the robot,
thereby striving to achieve the most favorable and optimal results.

6. Research Content

The research consist of five chapters. In Chapter 1, this study contextualizes itself within
the realm of robot manipulator systems, presenting an analysis of the available types of
robots, their limitations and capabilities, and the critical functions of controllers in this
domain. Chapter 2 presents the fundamental robot dynamical equations essential for the
development of control strategies, and Chapter 3 a background in control theory and
mathematical notions. In chapter 4, We present the results of the simulation of the
controller in order to prove the stabilization of the controller system, Commercially
available packages such as MATLAB or Simulink will be used in order to make it very
easy to simulate robot control systems. And in the fifth chapter, we consolidate and
underscore the significance of the stages involved in the research progression.

7. Expected results

The research furnishes an accurate mathematical model of the robot, along with the
suitable control approach integrated into the robot system, leading to simulation results
that effectively achieve stabilization.

Additionally, the research highlights the advantages of comprehending the robot

manipulator's kinematics and dynamics via mathematical modeling, aiding the creation of
accurate control algorithms and streamlined motion planning. This leads to enhanced
performance, heightened precision, and improved safety across diverse applications,
including manufacturing, automation, and robotics.

Advisor Team Leader

(Signed with full name) (Signed with full name)

Confirmation by Faculty