Modelling and control of articulated robotic arm
Humans tends to get bored when doing a repetitive task over and over again. Whenever human get bored doing something, their concentration level on doing the task will go down and the end result of the task will not be up to the standard. A robot that can imitate human movement could be introduce...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2014
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/1697/1/24p%20WAN%20MUHAMAD%20HANIF%20WAN%20KADIR.pdf http://eprints.uthm.edu.my/1697/2/WAN%20MUHAMAD%20HANIF%20WAN%20KADIR%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1697/3/WAN%20MUHAMAD%20HANIF%20WAN%20KADIR%20WATERMARK.pdf http://eprints.uthm.edu.my/1697/ |
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| Summary: | Humans tends to get bored when doing a repetitive task over and over again.
Whenever human get bored doing something, their concentration level on doing the
task will go down and the end result of the task will not be up to the standard. A
robot that can imitate human movement could be introduce in order to reduce human
error in doing a repetitive task. But, to design a robot that could impersonate human
movement is not that easy. Designer need to try and re-try their design before
implement it in a real robot. In order to simplify the design and development of a
robot, this thesis present the modelling and control of articulated robot arm. The
robot arm is modelled using a CAD model that was design in SolidWorks. The robot
arm movement is then simulated using the CAD model in Simulink before
implementing in the real model. The robot arm is controlled by Arduino Uno that
interact directly to the Simulink. The robot arm movement follows the CAD model
movement which is being simulated in the Simulink. Two type of analysis has been
done for this project that is an open and closed loop control test and also durability
and reliability test. This prototype of the robot arm showed that the operational was
successful with the initial open loop error that range from 11.48% till 15.56% to be
reduced down to a maximum eror of 1.64%, the robot arm able to lift loads that are
not more than 160 gram and produce error not more than 20%. Overall, this new
approach of designing and control of a robot is a success. |
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