Modeling a Controller for an Articulated Robotic Arm

Abstract

The precise control upon each degree of freedom of a robotic arm is a great challenge in implementing industrial work. This paper aims to design a novel controller for an automated robotic arm. A discrete Proportional Integral Derivative (PID) control technique is being used to replace the complex electronic circuitry, which would greatly reduce the cost and size of the controller. DC motors will be controlled on the basis of Closed-loop System using an avr (Atmega 16/32) microcontroller. Transfer functions have been derived for mathematical modeling of the system through which the stability of the system can be evaluated prior to fabrication.

Share and Cite:

R. Agrawal, K. Kabiraj and R. Singh, "Modeling a Controller for an Articulated Robotic Arm," Intelligent Control and Automation, Vol. 3 No. 3, 2012, pp. 207-210. doi: 10.4236/ica.2012.33023.

Conflicts of Interest

The authors declare no conflicts of interest.

References

[1] T. A. Salih and O. I. Yehea, “A Novel Control System for Robotics Devices,” Journal of Theoretical & Applied Information Technology, Vol. 28, No. 1, 2011, pp. 48-53.
[2] P. I. Corke and S. Hutchinson, “A Tutorial on Visual Servo Control,” IEEE Transactions on Robotics and Automation, Vol. 12, No. 5, 1996, pp. 651-670. doi:10.1109/70.538972
[3] N. Lygorouasjohn, G. Mertziosbasil and C. VoulgarisNicholas, “Design and Construction of a MicrocomputerControlled Light-Weight Robot Arm,” Robotics and Autonomous Systems, Vol. 7, No. 4, 1991, pp. 269-283. doi:10.1016/0921-8890(91)90058-S
[4] W. P. Aung, “Analysis on Modeling and Simulink of DC Motor and Its Driving System Used for Wheeled Mobile Robot,” World Academy of Science, Engineering and Technology, Vol. 32, 2007, pp. 299-306.
[5] C. W. de Silva, “Applications of Fuzzy Logic in the Control of Robotic Manipulators,” Fuzzy Sets and Systems, Vol. 70, No. 2-3, 1995, pp. 223-234. doi:10.1016/0165-0114(94)00219-W
[6] S. Ali A. Moosavian and E. Papadopoulos, “Modified Transpose Jacobian Control of Robotic Systems,” Automatica, Vol. 43, No. 7, 2007, pp. 1226-1233. doi:10.1016/j.automatica.2006.12.029
[7] I. Arciniegasjorge, H. Eltimsahyadel and J. Cioskrzysztof, “Neural-Networks-Based Adaptive Control of Flexible Robotic Arms,” Neurocomputing, Vol. 17, No. 3-4, 1997, pp. 141-157. doi:10.1016/S0925-2312(97)00037-4
[8] K. J. Tseng, “DSP-Based Control of Brushless DC Drives for Direct-Driven Robotic Arms,” Microprocessors and Microsystems, Vol. 19, No. 10, 1995, pp. 581-589. doi:10.1016/0141-9331(96)84159-7
[9] J. R. Rogers, “Low-Cost Teleoperable Robotic Arm,” Mechatronics, Vol. 19, No. 5, 2009, pp. 774-779. doi:10.1016/j.mechatronics.2009.03.004

Copyright © 2020 by authors and Scientific Research Publishing Inc.

Creative Commons License

This work and the related PDF file are licensed under a Creative Commons Attribution 4.0 International License.