The system of a cart inverted pendulum has many problems such as nonlinearity, complexity, unstable, and underactuated system. It makes this system be a benchmark for testing many control algorithm. This paper presents a comparison between 2 conventional control methods consist of a linear quadratic regulator (LQR) and pole placement. The comparison indicated by the most optimal steps and results in the system performance that obtained from each method for stabilizing a cart inverted pendulum system. A mathematical model of DC motor and mechanical transmission are included in a mathematical model to minimize the realtime implementation problem. From the simulation, the obtained system performance shows that each method has its advantages, and the desired pendulum angle and cart position reached.
Technological advances allow researchers to develop advanced arm robots and can safely work side by side with humans Therefore, a robot arm controller can be designed in such way that the robot arm can move along the desired trajectories and act upon external influences, in this last case, the torque sensor plays an important rule. Currently torque sensors are available in the market has a high price. In this work, an inexpensive robot joint torque sensor is presented. Most parts of this sensor are made using 3D printers. While the other components are easily can be found in the market and with a relatively low-costs. The development of this sensor is intended to facilitate the prototyping of the robot arm for educational and research purposes. The basic idea of the sensor mechanism is to convert torque into a force absorbed by a spring. Then, the encoder senses the direction and the value of the input torque. This torque sensor can be easily too customized. Thus this sensor can be tailored to the needs by replacing some parts such as encoder and spring. The mechanism of this sensor can also be adjusted with the actuator to be paired. Experiments have been conducted to verify the accuracy and the performance of the proposed torque sensor.
This research aims to design a pipe cutting machine using an AC servo motor and PLC as a controller based on HMI (Human Machine Interface). The use of AC servo motors is done to maintain accuracy and precision in cutting pipe lengths. This research uses experimental methods which include hardware and software design. PLC LS XGT Series is used to control the pipe cutting machine automatically based on the input signal from the proximity and encoder. Proximity is used to detect the presence of pipe while the encoder is used to detect AC servo motor rotation. By knowing the number of turns of the AC servo motor through the encoder, the length of the pipe can also be determined. The AC servo motor with Mitsubishi HC-KFS43 400W models is used to pull the pipe, gripping the pipe, and moving the cutting machine while a modified AC circle saw motor is used to drive the cutting blade. Based on the results of the study, the cutting machine can cut pipes automatically according to the desired number and length of the pipe. The work process can be monitored and controlled on a computer through HMI.
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