Analysis of point-to-point robotic arm control using PID controller
Point-to-point robotic arm has been used in manufacturing industry to assist company in increasing its production rate. However, the biggest concern in robotic arm is the accuracy for the robot to complete the task of pick-andplace of an object which is dependent on the designed controller. This...
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Main Authors: | , , , |
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Format: | Conference or Workshop Item |
Language: | English English |
Published: |
Institute of Electrical and Electronics Engineers Inc.
2019
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Subjects: | |
Online Access: | http://irep.iium.edu.my/79693/1/79693_Analysis%20of%20Point-to-Point%20Robotic%20_conf.%20article.pdf http://irep.iium.edu.my/79693/2/79693_Analysis%20of%20Point-to-Point%20Robotic%20_scopus.pdf http://irep.iium.edu.my/79693/ https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8952036 |
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Summary: | Point-to-point robotic arm has been used in
manufacturing industry to assist company in increasing its
production rate. However, the biggest concern in robotic arm
is the accuracy for the robot to complete the task of pick-andplace of an object which is dependent on the designed
controller. This study investigates the accuracy of the 5 degrees
of freedom (DOF) robotic arm model with PID controller. The
forward kinematic is analysed systematically in order to
determine the required movements for each of the robotic arm
joint for its desired operations. The objective of this paper is to
simulate the movements of the robotic arm with and without
controller by utilizing MATLAB GUI, a microcontroller and
servo motors in order to demonstrate the effectiveness of the
system. Performance comparison of the robotic arm in
completing the pick-and-place task with and without PID is
presented in this paper. The preliminary results showed that
the difference errors between the desired angular displacement
of with and without controller are 0.65%, 3.61%, 10.74%,
82.18% and 44.44% for the five movements. |
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