Concept for Automated Sorting Robotic Arm

Shah, R. T.; Pandey, Akash

doi:10.1016/j.promfg.2018.02.058

Cited by 29 publications

(13 citation statements)

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“…The movement of the robotic arm required a large-scale motor that has optimal control performances. Most robotic arms are equipped with DC motors [20].…”

Section: A Robotic Systemsmentioning

confidence: 99%

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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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“…The movement of the robotic arm required a large-scale motor that has optimal control performances. Most robotic arms are equipped with DC motors [20].…”

Section: A Robotic Systemsmentioning

confidence: 99%

“…Adjusting the three parameters of PID (K P , K I, and K D ) is a big problem. Several intelligent techniques are proposed to enhance the tuning of PID gains [24][25][26][27][28][29]. The following procedure can be used to evaluate the appropriate gain values for the PID controller [30]…”

Section: B Pid Controllermentioning

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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“…To achieve the objective for this automation system, the 6-axis robot must have the ability to pick and place the products. In order to that, designed for gripper is essential because it is the tool to perform the desired task [16]. As shown in Fig.…”

Section: Fig 3 Major Process Of Hmi [15]mentioning

confidence: 99%

Development of Control System for Dual NC Machine with Single 6-Axis Robot

Aliff¹,

Hamdi²,

Ismail³

et al. 2019

IJITEE

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NC machine now widely used in industry especially in cutting process. It is precision cutting machine but however the effectiveness of this machine is less effective because it used manual handling to operate. For manual handling, it has many factors that affect the performance of the NC machine. This paper is about to developed of control system for dual NC machine with single 6-axis robot and it is important for further analysis regarding the performance of the machine. 6-axis robot commonly used because it can perform wider of flexibility. To design this system, it consists of integration of multiple controllers and image processing and algorithm for vision is required to differentiate before and after products. A design of automation system must be effective for a better result. This system is served for two NC machine with single 6 axis robot. From the result obtained from this research it showed that by having this system can increase the NC machine rate from 60% to 75% and by developed an automation system shall increase the machine rate into maximum ability of the machine.

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“…The development of robots for use in a range of applications has become increasingly common over the years, particularly to replace repetitive tasks or in potentially dangerous situations (Hill & Page, 2011;Lundeen et al, 2019;Shah & Pandey, 2018). However, while the field of robotics is fast growing, the more specific area of hospital service robots for infectious disease treatment remains relatively underdeveloped (Azeta et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Modeling and Design of a Humanoid Robot by Additive Manufacturing Process

Azeta¹,

Bolu²,

Oyawale³

2020

International Journal of Engineering Research and Technology

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By the year 2030, it is estimated that 800 million workers all over the world could be replaced by robots and this is evident of a robotic revolution happening in healthcare worldwide. This study aims to model and design a humanoid robot with additive manufacturing process. Computer aided design (CAD) models of the selected concepts were developed in Fusion360 and imported into SolidWorks to optimise and improve the design. The first stage of the design focused on the development of the main body and wheelbase, while the second phase focused on the arms and manipulators. To meet the project requirement of a payload of 500 g we selected a tough and low density material with appropriate servo motor with a torque of 9.4 kg/cm at each joint. The parts of the robot were produced by additive manufacturing process with an extrusion technique called fused deposition modelling (FDM) where a continuous filament of thermoplastic material, Polylactic acid (PLA) was fed from a coil via a moving heated extruder head and gradually deposit on the work. Overall, the robot proved that the proposed design is able to achieve the design requirements while mimicking basic human movements.

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Concept for Automated Sorting Robotic Arm

Cited by 29 publications

References 0 publications

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

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

Development of Control System for Dual NC Machine with Single 6-Axis Robot

Modeling and Design of a Humanoid Robot by Additive Manufacturing Process

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