Trajectory closed loop control experiment for a two-link elastic manipulator in presence of load

Abstract

Studying the behavior of a 2-link elastic robotic arm as a manipulator is the purpose of this article. So, all parts of an experimental set up like aluminum links, AC servo motor and its driver, DC motor, strain gauge sensors, high speed digital to analog convertor (DAC) components on an electrical interface board and National Instrument's LABVIEW software package are gathered. In this paper, it is focused on closed loop control of end effector in presence of load with and without PID controller. Decreasing the power consumption in industrial heavy robots requires to reducing the weight of the robot's links. It causes more deflection and vibration in the end effector of robots. Hence eliminating the deflection and vibration of end effector is a substantial goal in robotic and control researches. Here we try to propose ideas for this problem and it works better if all offered theoretical ideas exam on an actual set up that we have prepared. For the first step a PID linear controller has been tested on experimental set up. Eventually it will caused that getting enhancement in some terms of PID will improve some deviations of the direction due to link's vibrations. On the other hand increasing load on the robot end effector is caused to vibration intensification.