System response for lightweight robot arm

Mohd Razali, Mohammad Taqiyuddin (2016) System response for lightweight robot arm. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This report presents the work done on system response for lightweight robot arm (ITRobot). The research works on the identification of the lightweight robot arm models found in the literature are very limited. Most researchers study on the heavyweight types of robot arm that commonly applied in the manufacturing industry. New application as well as new performance in terms of high speed, high stability and high precision can be obtained by designing a system with good transient response properties. System response is one of the main elements in system identification techniques. A suitable instrument and analytical procedure is used to obtain the input and output of system. The objectives of this project are to determine the frequency response of the system for lightweight robot arm and to analyse the behavior and characteristics of lightweight robot arm using Fast Fourier Transform (FFT). The results for simulation are obtained by using SimMechanics toolbox that is available in MATLAB software while for experimental analysis is using the robot hardware which is lightweight robot arm. The analysis for both experiments is based on gain margin, phase margin, and FFT. According to the rule of thumb, gain margin is 4-10 dB while phase margin is 300-900. The results were compiled in the results and discussion chapter. It is recommended to do further studies on system identification for lightweight robot arm.

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