Servo Motor Controller using PID and Graphical User Interface on Raspberry Pi for Robotic Arm

Abstract

The usage of the robotic arm in industries has been growing as the robotic arm can provide many advantages to the industries. However, the usage of the robotic arm has many challenges faced by the industries. One of the problems is the error of the angle position caused by the movement of the robotic arm’s joint which affects the precision of the desired position of the end-effector. Therefore, this paper aims to study the solution of the PID controller to increase the accuracy of the position of the end-effector in the X-Y plane using forward kinematic. It describes the mechanical system, design concept, and the prototype of a 6 DOF robotic arm. Initially, the angle error of the joint for 2D plane movement is captured manually using the trigonometric calculation. Then, to reduce this error, the coefficient of the PID controller, k p , k i , and k d are tuned automatically using Simulink and MATLAB. Then, the controller is programmed on a Raspberry Pi with a servo driver, PCA9685. There are six servo motors used as the joints of the robotic arm, namely MG996R. Each servo motor can be controlled by using a Graphical User Interface (GUI) scripted in Python Programming Language. The end position of the end-effector will be displayed on this GUI. It is found that the angle position error of the 6 DOF robotic arm for X-Y plane movement is reduced from 4.7° to 0° by using the PID controller.

Design and Implementation of Adaptive Backstepping Control for Position Control of Propeller-Driven Pendulum System

“…For future work, this study can be extended by including different optimization algorithms for the purpose of comparison with the PSO technique [18][19][20][21]. In addition, another extension of this study could be by using other embedded hardware designs such as Raspberry Pi or FPGA or by using LabVIEW programming software in order to implement the proposed controller in a real-time environment [22][23][24][25].…”

FDM Based Custom 3D Printer Development in Robotic Arm Mechanical Prototype Printing

“…The MG996R servo motor is used as an actuator at each joint, usually functioning as a revolute joint. It can adjust the set-up or set to determine and ensure the angular position of the motor output [14]; ESP8266 is a Wi-Fi transceiver that functions to connect the microcontroller with Wi-Fi so that it can be connected to TCP/IP; Bluetooth module which is a data communication protocol that uses a 2.4 GHZ radio frequency [15]; Arduino Mega is a microcontroller based on the ATmega 2560 ("Alternative Control System for Robot Arm with Data Logger," 2020); Motor Driver A4988 which is a stepper motor driver module that functions to control the direction of rotation and working speed of the stepper motor according to the commands on the Arduino [16]; RAMPS 1.4 Shild which functions as an interface between Arduino mega 2560 and devices such as stepper motors [17], as well as other supporting components. In addition to the components, there are systems that are also used, namely HMI (Human Machine Interface), database, and LoRa (Long Range).…”