Analysis of Point-to-Point Robotic Arm Control using PID controller

2019 7th International Conference on Mechatronics Engineering (ICOM) Pub Date : 2019-10-01 DOI:10.1109/ICOM47790.2019.8952036

Safiuddin Che Suhaimin, Nur Liyana Azmi, M. Rahman, H. Yusof

{"title":"Analysis of Point-to-Point Robotic Arm Control using PID controller","authors":"Safiuddin Che Suhaimin, Nur Liyana Azmi, M. Rahman, H. Yusof","doi":"10.1109/ICOM47790.2019.8952036","DOIUrl":null,"url":null,"abstract":"Point-to-point robotic arm has been used in manufacturing industry to assist company in increasing its production rate. However, the biggest concern in robotic arm is the accuracy for the robot to complete the task of pick-and-place of an object which is dependent on the designed controller. This study investigates the accuracy of the 5 degrees of freedom (DOF) robotic arm model with PID controller. The forward kinematic is analysed systematically in order to determine the required movements for each of the robotic arm joint for its desired operations. The objective of this paper is to simulate the movements of the robotic arm with and without controller by utilizing MATLAB GUI, a microcontroller and servo motors in order to demonstrate the effectiveness of the system. Performance comparison of the robotic arm in completing the pick-and-place task with and without PID is presented in this paper. The preliminary results showed that the difference errors between the desired angular displacement of with and without controller are 0.65%, 3.61%, 10.74%, 82.18% and 44.44% for the five movements.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 7th International Conference on Mechatronics Engineering (ICOM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICOM47790.2019.8952036","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 5

Abstract

Point-to-point robotic arm has been used in manufacturing industry to assist company in increasing its production rate. However, the biggest concern in robotic arm is the accuracy for the robot to complete the task of pick-and-place of an object which is dependent on the designed controller. This study investigates the accuracy of the 5 degrees of freedom (DOF) robotic arm model with PID controller. The forward kinematic is analysed systematically in order to determine the required movements for each of the robotic arm joint for its desired operations. The objective of this paper is to simulate the movements of the robotic arm with and without controller by utilizing MATLAB GUI, a microcontroller and servo motors in order to demonstrate the effectiveness of the system. Performance comparison of the robotic arm in completing the pick-and-place task with and without PID is presented in this paper. The preliminary results showed that the difference errors between the desired angular displacement of with and without controller are 0.65%, 3.61%, 10.74%, 82.18% and 44.44% for the five movements.

查看原文本刊更多论文

基于PID控制器的点对点机械臂控制分析

点对点机械臂已广泛应用于制造业，以帮助企业提高生产效率。然而，机器人手臂最大的问题是机器人完成物体拾取任务的精度，这取决于所设计的控制器。研究了采用PID控制的五自由度机械臂模型的精度问题。系统地分析了正运动学，以确定每个机械臂关节所需的运动，以实现其期望的操作。本文的目的是利用MATLAB图形用户界面、微控制器和伺服电机对机械臂在有控制器和没有控制器的情况下的运动进行仿真，以证明系统的有效性。对机械臂在有PID和无PID的情况下完成拾取任务的性能进行了比较。初步结果表明，五种运动方式的期望角位移差值分别为0.65%、3.61%、10.74%、82.18%和44.44%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

2019 7th International Conference on Mechatronics Engineering (ICOM)

自引率

0.00%

发文量