Design of a precision motion control for an upper limb of robotic arm

Teo , Ting Huan (2014) Design of a precision motion control for an upper limb of robotic arm. Project Report. UTeM. (Submitted)

Text DESIGN OF A PRECISION MOTION CONTROL FOR AN UPPER LIMB OF ROBOTIC ARM 24pages.pdf Download (240kB)

Abstract

The objective of this project is to design a controller which is able to control the output angle for an upper limb of robotic arm. A model of robotic arm of 1 degree of freedom is designed and fabricated. Comparison between few types of motor is carried out and DC geared motor is chosen as the motor to be used in this project. Study is carried out based on previous research to investigate which type of controller is suitable to be used in this project. PID controller and fuzzy logic controller are chosen and compared in terms of their performance such as the steady-state error, settling time, rise time and overshoot. The experimental setup is carried out. The equipments used are Micro-Box 2000/2000C, Cytron DC geared motor, motor driver circuit. Micro-Box module acts as the interface between hardware component and programming software installed in a computer. The software involved in this project is MATLAB R2009a. Open loop simulations are first carried out to obtain the transfer function of motor. It is then substituted into the system for further analysis. Simulation for an uncompensated system is carried out to observe the closed loop system characteristic without using the controllers. After that, closed loop simulations are carried out for compensated systems using PID controller and fuzzy logic controller. Two types of experiments are carried out, namely point to point trajectory control and tracking control experiments. Analysis is made based on the results obtained and the best type of controller is chosen for achieving precise motion control for an upper limb of robot manipulator.

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