The Design Of A Torque Feedback Controller Using PID Controller For An Upper Limb Robotic Arm

Kartikesu, Vijayan (2013) The Design Of A Torque Feedback Controller Using PID Controller For An Upper Limb Robotic Arm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

	PDF (24 Pages) The_Design_Of_A_Torque_Feedback_Controller_Using_PID_Controller_For_An_Upper_Limb_Robotic_Arm_-_24_Pages.pdf - Submitted Version Download (501kB)
	PDF (Full Text) The_Design_Of_A_Torque_Feedback_Controller_Using_PID_Controller_For_An_Upper_Limb_Robotic_Arm_-_Full_Text.pdf - Submitted Version Restricted to Registered users only Download (1MB)

Abstract

A robotic arm is a mechanical controlled device which is designed to do movement of a human arm. The robotic arm can be design by many actuators like pneumatic, hydraulic and motor. Due to the arm movement, it requires a type of controller for performing the movement. In this past, the types of controller use on robotic arm like PD controller and PI controller are used on robotic arm. Although, the next generation robotic arm need a suitable controller to control output force which able to produce a significant reduction of performance error. While this works well, the robot arm will perform movement with proportional torque which gives benefit in surgical and industrial application. In this project, proportional-integral-derivative (PID) controller will be applied into the upper limb robotic for control the output torque. Hence, the purpose of this project is to design a controller equipped with robotic arm for control the torque of arm movement and avoid any disturbance of the system. The Matlab/Simulink application used to analysis the data acquired from the simulation. The controller system is scoped on the proportional torque acquired to perform the robotic arm movement.

Actions (login required)

View Item