A Prototyping of 2-DOF Robot Arm Using Feedback Control System

Nurnuansuwan, Nopphawan; Lonklang, Aphilak; Chamniprasart, Kontorn

doi:10.1109/iccar.2019.8813726

Cited by 6 publications

(3 citation statements)

References 2 publications

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“…The dynamics equation of a robot can be written in the general form as, H(q) q + C(q, q) q + g(q) = τ (1) where; H(q) =mass inertia, C(q, q) = Centripetal and Coriolis force on the manipulator, g(q) = gravitational force acting on the manipulator and q = acceleration, q= velocity, q = displacement of the joints of the manipulator, and τ =joint driving torque [25].…”

Section: Dynamic Model Of the Two-link Planar Robotmentioning

confidence: 99%

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Simplified Exponential Reaching Law Based Sliding Mode Control of Two-Link Planar Robot

Nazif,

Mohammed,

Hassan

et al. 2023

Nigerian Journal of Tropical Engineering

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Robotics has gained attention for its ability to perform industrial tasks like welding, machining, position con- trol, and other essential medical operations. Controllers are continuously being improved in design for simplicity, robustness, and performance accuracy. High-accuracy trajectory tracking is a challenging area in robot control due to nonlinearities and input couplings. To achieve high accuracy and precision, robots need accurate, and fast- processing controllers. This research focuses on applying the exponential reaching law (ERL) to control a two-link planar robot. The Euler-Lagrange approach was used for dynamic modeling, and the MATLAB/Simulink toolbox was used for the simulation. The result was obtained in terms of RMS error for the links, with and without the fric- tional disturbance, in the case of the proportional and derivative (PD) controller, reaching law based sliding mode controller (RSMC), and the simplified exponential reaching law based sliding mode controller (SSMC). RMSE with disturbance for SSMC (0.0753 rad, 0.0817 rad for link 1 and link 2 respectively), RSMC (0.0828 rad, 0.0852 rad) and PD (0.2784 rad, 0.1062 rad), and RMSE values without disturbance for SSMC (0.0743rad, 0.0811rad for link 1 and link 2 respectively), RSMC (0.0752 rad, 0.0815 rad) and PD (0.2579 rad, 0.1021 rad). Based on the result obtained, SSMC was found to be more accurate and robust as a result of having the minimum tracking error minimum change in RMSE respectively, as compared to the other controllers. It is evident that SSMC control scheme has proven to have an improved performance with simplicity and robustness.

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Section: Dynamic Model Of the Two-link Planar Robotmentioning

confidence: 99%

“…Robotic manipulator arm is an industrial-scale robotic arm with rigid links connected by moveable joints for motion-control that can be opened or closed in motion [1,2,3]. Robots imitate human movement using brain, feet, and arms, acquiring aptitude and imagination through manual or autonomous operation of robotic arms [4].…”

Section: Introductionmentioning

confidence: 99%

Simplified Exponential Reaching Law Based Sliding Mode Control of Two-Link Planar Robot

Nazif,

Mohammed,

Hassan

et al. 2023

Nigerian Journal of Tropical Engineering

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“…The cost of the DC motor is higher than an induction motor. However, some previous studies have investigated DC motors' speed control were conducted, and various methods have been developed [11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment

Al-khazarji

Abdulsada

Abduljabbar

2020

Int. J. Adv. Sci. Eng. Inf. Technol.

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Modern automation robotics have replaced many human workers in industrial factories around the globe. The robotic arms are used for several manufacturing applications, and their responses required optimal control. In this paper, a robust approach of optimal position control for a DC motor in the robotic arm system is proposed. The general component of the automation system is first introduced. The mathematical model and the corresponding transfer functions of a DC motor in the robotic arm system are presented. The investigations of using DC motor in the robotic arm system without controller lead to poor system performance. Therefore, the analysis and design of a Proportional plus Integration plus Divertive (PID) controller is illustrated. The tuning procedure of the PID controller gains is discussed to achieve the best responses of the DC motor. It is found that with the PID controller, the system performance is enhanced, especially in terms of steady-state error but does not provide the required optimal control. The required approach of Ackerman's formula optimal controller based on state-space feedback is investigated. A GUI using the Matlab environment is created to obtain the DC motor's responses without using a controller and with controllers. It is found that the proposed approach of the optimal controller has more robustness and enhances the overall performance of the existing PID controller in the form of reducing settling times (from 2.23 second to 0.776 seconds), minimizing percent overshoot (from 27.7 % to 1.31 %) and zero value of steady-state error.

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