Modeling a Controller for an Articulated Robotic Arm

Rajeev, Agrawal; Koushik, Kabiraj; Ravi, S.

doi:10.4236/ica.2012.33023

Cited by 11 publications

(8 citation statements)

References 7 publications

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“…This control law can be used for tracking control of a high-speed robot since this approach is free of manipulator model. The actuator dynamic equation is used for precise control of each degree of freedom of a robotic arm as applied in [16].…”

Section: Robotic Manipulator Joint Dynamic Modelmentioning

confidence: 99%

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Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme

Agbaraji

Inyiama

Okezie

2017

PSIJ

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Joint torque control of a robotic manipulator requires a close dynamic description model involving the non negligible dynamics of the subsystems making up the system. The mathematical model for joint torque control of the robotic manipulator has been identified as one of the major sources of failures of commercial robots. The manipulator is basically made up of links connected by joints, and the torque that moves the links connected to a joint is produced by the joint actuator and also in practice, the control law is fed into the actuator inputs, therefore the actuator dynamics becomes non negligible dynamics in the dynamic modeling of the manipulator for robust joint torque control. Hence, a complete dynamic model of the manipulator which involves the link dynamics plus actuator dynamics was proposed. This paper focuses on the modeling of a 3DOF articulated manipulator based on independent joint (decentralized) scheme and the determination of the viscous damping coefficient for the joint torque control model. The independent joint model provides closer mathematical description of the manipulator and also enhances robust controller design. Joint damping coefficient B, was determined through experiment based on bode plot of the open loop gain. From the results, it was concluded that joints I and II achieved the best performance when B is 0.001N.m/rad /sec and 0.01N.m/rad /sec respectively.

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Section: Robotic Manipulator Joint Dynamic Modelmentioning

confidence: 99%

“…Ovy et al [15] applied the actuator dynamic model in their robotic arm control. Implementation of actuator dynamics in the dynamic model for joint torque control of an articulated manipulator was presented in [16,17].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme

Agbaraji

Inyiama

Okezie

2017

PSIJ

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“…Usually, the end effector is attached to the end joint of the structure [14][15][16][17]. Precise control at each DOF of a robotic arm is considered a competitive key to improving performance through the implementation of industrial robotic arms [18,19]. The most remarkable controller's strategies are impedance control, force control, motion control, and hybrid motionforce control [20].…”

Section: Introductionmentioning

confidence: 99%

Perspective Chapter: Fabulous Design Speed Industrial Robotic Arm

Alkhafaji¹

2023

Human-Robot Interaction - Perspectives and Applications

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This chapter focuses on the design of a handling 5 Degree of freedom (DOF) robot arm model for industrial application. Optimal trajectory planning of industrial robots in the assembly line is a key topic to boost productivity in a variety of manufacturing activities. The aim is to improve the speed performance using multi techniques starting from estimating the transfer function of each manipulated joint, then designing the controller for each DOF reached to modeling arm motion. The designed model has been developed the structural design and testing motion characteristics by using SolidWorks and Simscape toolbox. To enhance the speed performance, it is proposed a High-Speed Proportional Integral Derivative controller (HSPID) based on an improved GA. The comparison response time between uncontrolled and controlled systems proves that the proposed controller produced extreme reduction responses to be measured within the Microsecond unit. Based on trajectory motion, the efficiency of the proposed method is assured by case study motions. The innovative design offers the best solution to rise accurate performance and productivity.

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“…PID stands for proportional-integral-derivative and as there are three actions comprised in one controller thus the name, PID [18]. PID law has been to design control input where it will provide stability towards the system as it has a feedback control loop mechanism and has been used as a feedback controller [7], [15], [19], [20]. This is actually how it works, P will determine the reaction to the current error which can lead to improvement of rise time while I, determine the reaction of the summation towards the recently appeared error which can reduce the steady-state error and as for D, determine the reaction following the rate of error changing which means D can predict the future error based on the rate of the current changed which can reduce the overshoot [21]- [23].…”

Section: Introductionmentioning

confidence: 99%

Modelling and proportional-integral-derivative controller design for position analysis of the 3-degree of freedom

Budin

Osman

2022

IJEECS

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A closed-loop system or which can also be known as a feedback system helps the system to achieve the desired output by comparing the input and the output values. If any difference is detected, the closed-loop system will create an error signal and automatically responds to it. Other than that, the proportional-integral-derivative (PID) controller has a feedback mechanism. Thus, this creates the curiosity whether the closed-loop system and PID which both have the characteristic of a feedback system, can give the same. In this paper, the comparison of the model of 3 degree of freedom (DOF) Mitsubishi RV2-AJ is being made between two models of a robot arm that has a closed-loop system but only one that is embedded with PID controller while the other one is not, these two are simulated for different positions. The new model is created by using Solidworks which is later exported to Matlab-Simulink. The results from MATLAB-Simulink show that the model which is equipped with a PID controller has better results in terms of the rise time and percentage of overshoot. These results confirm the effectiveness of PID controller in producing smaller errors in the systems even when both models are created together with closed-loop systems.

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Modeling a Controller for an Articulated Robotic Arm

Cited by 11 publications

References 7 publications

Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme

Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme

Perspective Chapter: Fabulous Design Speed Industrial Robotic Arm

Modelling and proportional-integral-derivative controller design for position analysis of the 3-degree of freedom

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