Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

Adar, Nurettin Gökhan; Kozan, Recep

doi:10.12693/aphyspola.130.269

Cited by 17 publications

(8 citation statements)

References 6 publications

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“…Generally, commercial and traditional robots have a computer based controller and software [30,31], whereas, mobile robots have embedded controllers and software. In the OM-NIMO project, a completely embedded control system is used, and the embedded control software and software configurations of OMNIMO are presented in this chapter.…”

Section: Softwarementioning

confidence: 99%

Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

Kılıç

Kapucu

2017

Acta Phys. Pol. A

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A robot is an electromechanical system, which is guided by software via electronic circuitry. In the absence of electronic systems, there is no way to make a connection between software and mechanical components. This means that all robotic systems require mechanical systems, electronic systems and software. OMNIMO, as a modular reconfigurable robot, has sophisticated electronic systems and software. Electronic system of OMNIMO includes controllers, actuators, transducers, communication units, regulators, batteries, user interface units and complementary components. In addition, OMNIMO is controlled by four different layers of software. In this paper, electronic hardware details, system integration and control software architecture of modular reconfigurable robot module OMNIMO are presented. In addition, adaptation of components and communication protocol details of hardware are given.

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Section: Softwarementioning

confidence: 99%

Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

Kılıç

Kapucu

2017

Acta Phys. Pol. A

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“…Furthermore, Adar and Kozan [4] compared the performance of PID and 2-DOFPID controllers designed for controlling a 6-DOF robotic arm. It was discovered that the x, y position of 2-DOF PID had less overshoot and a faster settling time than PID.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Analysis of A 6-DOF Robotic Arm for Oil and Gas Pipeline Welding Operations

Nyong-Bassey

A.M.

2022

Int. J. Robot. Autom. Technol.

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Recent advances in robotics and automation technology have spurred the widespread use of robotic arms for industrial operations. Consequently, practising engineers, key players and particularly engineering students must be encouraged to stay abreast with these recent trends by developing hands-on and simulation experience. Therefore, this paper concisely presents the modelling, kinematic analysis as well as simulation results of an educational 6-DoF (Degrees of Freedom) robotic arm designed for welding oil and gas pipelines and other generalised tasks in a MATLAB/Simulink-Simscape environment. The joint movements of the robotic arm were simulated with a sinusoidal reference signal consisting of unit magnitude and frequency of 1 rad/s using the MATLAB Robotics Toolbox. Consequently, the results indicated satisfactory performance as the design allows the robot joints to effectively move the end-effector welding tool-piece in an elliptical path as would be required in the case of welding a cylindrical pipeline for oil and gas operations.

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“…Last trends in control methods area show that a better control approach supplies more desired results [1]. It means better control is the more efficiently system [1][2][3][4][5]. Especially, motor drivers must have more efficient.…”

Section: Introductionmentioning

confidence: 99%

Decreasing the Cogging Torque using Virtual Positive Impedance Based Active Damping Control Method for PMSMs

Saygin

2019

International Journal of Computational and Experimental Science and Engineering

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In this paper, active damping control based virtual positive impedance for a PMSM driver is proposed. The proposed model is assumed to achieve the better motor current with a better harmonic response. 6 switches can be employed in the design of the driver to obtain high performance with a simultaneous reduction in the motor current harmonics and thus the torque ripple of PMSM. However, the reduction of input current harmonics is very important to operate the PMSM with less cogging torque. The proposed concept offers a significant decreasing in harmonics. Thus, the effect of VPI on the cogging torque can be understood. The inverter with a Field Oriented Control (FOC) method operates in 3-phase and 20 kHz switching frequency. The PMSM motor is fed by the inverter. The VPI based active damping control for the motor drive is discussed to confirm the performance of the proposed method. The simulation results based on MATLAB are provided to validate the proposed control strategy.

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Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

Cited by 17 publications

References 6 publications

Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

Modelling and Analysis of A 6-DOF Robotic Arm for Oil and Gas Pipeline Welding Operations

Decreasing the Cogging Torque using Virtual Positive Impedance Based Active Damping Control Method for PMSMs

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