Controller Design of Dual-limb Robotic Arm

Tan, Ping Khai (2016) Controller Design of Dual-limb Robotic Arm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Controller Design of Dual-limb Robotic Arm.pdf - Submitted Version Download (396kB)

Abstract

Robotic becomes one of the most advancing technologies where it replaces countless human labors into a more tough and efficient mechanical body, regardless of working environment. Normally, robotic arm is designed based on the purpose and the usage of the robotic in different field. Multiple solutions are proposed to learn signal trajectory given to the robotic arm and control it for accomplished specified task. Previous research had analyzed and controlled signal trajectory of a 1-DOF robotic arm to minimize error and improve system performance. In this project, the focus is on developing and fabricating upper dual-limb robotic arm which are able to move in parallel motion. The experimental data is obtained through open loop test for the robotic arm model. It is aim to determine the characteristic of robotic arm model. By using system identification method, the determination of system model of robotic arm can be done via experimental data. Proportional, Integral and Derivative (PID) controller is introduced to control the signal trajectory of the robotic arm. After comparing each controller, Proportional and Derivative (PD) controller is found suitable to control robotic arm with proportional gain and derivative gain . For controlling the signal trajectory, closed loop control system is developed with designed PD controller as control system. The closed loop test and signal tracking test are performed for the verification of the robustness of the PD controller. It shows that the motion of robotic arm can track and follow the input trajectory with error of 10%. Both robotic arms are expected to move synchronous and accurately with respect to desired input.

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