Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review

Yudha, Hendra Marta; Dewi, Tresna; Risma, Pola; Oktarina, Yurni

doi:10.11591/eecsi.v5.1620

Cited by 3 publications

(3 citation statements)

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“…Previous study also used lagrangian formula method to modelled and simulated two DoF arm robot [4]. The difference with this study is that this Farika Tono Putri dkk /Jurnal Rekayasa Mesin p-ISSN: 1411-6863, e-ISSN: 2540-7678 Vol.18|No.3|495-504|Desember|2023 496 study compare the mathematical simulation and 3D mechanical system simulation, meanwhile previous study not comparing both method [4][5][6].…”

Section: Introductionmentioning

confidence: 85%

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Mathematical and 3D Mechanical System Simulation of Arm Robot Modelled as Double Pendulum

Putri,

Indrawati,

Safriana

et al. 2023

j.rekayasa.mesin.

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<p>Lengan robot telah banyak digunakan dan penelitian ekstensif terkait manipulator telah dilakukan. Permasalahan pada manipulator robot lengan adalah pengendalian dan stabilisasinya. Pemodelan matematis dapat membantu mengendalikan lengan robot dengan parameter yang mudah untuk ditentukan. Penelitian ini bertujuan untuk membandingkan simulasi pemodelan matematis dan simulasi sistem mekanik 3D manipulator yang dimodelkan dengan pendulum ganda. Simulasi dilakukan dengan bantuan MATLAB/Simulink dan MATLAB/Simscape Multibody. Metode penelitian meliputi: (i) Pembentukan persamaan Lagrange untuk manipulator, (ii) Membuat blok MATLAB/Simulink, (iii) Membuat blok MATLAB/Simscape Multibody, (iv) Mendefinisikan parameter matematis dan fisika dan (v) Menjalankan simulasi dan menganalisis hasil. Hasil dari penelitian ini menunjukkan simulasi matematis lengan robot berdasarkan persamaan Lagrange konsisten dalam bentuk gelombang sinus. Sedangkan untuk simulasi 3D hasil grafiknya tidak konsisten. Namun pada hasil simulasi 3D yang parameter lengan robotnya hampir sama, hasilnya menunjukkan tren tertutup.</p>

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Section: Introductionmentioning

confidence: 85%

“…Previous study related to arm robot has been done widely with various method, parameter, software aided and design. Many previous studies published about robotic arm analysis utilizing inverse and forward kinematics [5][6].…”

Section: Introductionmentioning

confidence: 99%

Mathematical and 3D Mechanical System Simulation of Arm Robot Modelled as Double Pendulum

Putri,

Indrawati,

Safriana

et al. 2023

j.rekayasa.mesin.

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“…Robot technology plays an important role in industry and life. In actual use, fully autonomous robots account for the majority (Yudha et al, 2018). Among many types of robots, the use of robotic arms is very wide.…”

Section: Introductionmentioning

confidence: 99%

Control and benchmarking of a 7-DOF robotic arm using Gazebo and ROS

Zhang¹,

Liu²

2021

PeerJ Computer Science

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The robot controller plays an important role in controlling the robot. The controller mainly aims to eliminate or suppress the influence of uncertain factors on the control robot. Furthermore, there are many types of controllers, and different types of controllers have different features. To explore the differences between controllers of the same category, this article studies some controllers from basic controllers and advanced controllers. This article conducts the benchmarking of the selected controller through pre-set tests. The test task is the most commonly used pick and place. Furthermore, to complete the robustness test, a task of external force interference is also set to observe whether the controller can control the robot arm to return to a normal state. Subsequently, the accuracy, control efficiency, jitter and robustness of the robot arm controlled by the controller are analyzed by comparing the Position and Effort data. Finally, some future works of the benchmarking and reasonable improvement methods are discussed.

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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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Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review

Cited by 3 publications

References 0 publications

Mathematical and 3D Mechanical System Simulation of Arm Robot Modelled as Double Pendulum

Mathematical and 3D Mechanical System Simulation of Arm Robot Modelled as Double Pendulum

Control and benchmarking of a 7-DOF robotic arm using Gazebo and ROS

Perspective Chapter: Fabulous Design Speed Industrial Robotic Arm

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