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Introduction
Problem Statement
Objective
Methodology
Result
Conclusion
Mohd Zaid Hassan @ Abdul Rahman,
Anwar Abdul Rahman,
Rosli Darmawan,
Mohd Arif Hamzah
This paper describes a general design and
The control task is to move the robot arm from an initial
implementation approach used for programming and
position to a final position.
controlling robotic systems such as remotely operated
To achieve that we require prior knowledge of either desired
robotic manipulator systems.
position or angle of each joint, where using the angels is called A low‐cost robotic arm and controller system y is
forward
f d kinematic
ki i while
hil using
i theh position
i i is
i called
ll d inverse
i presented. The system takes advantage of the low cost
kinematic. and wide availability of control components and uses a
This is done using many types of controllers. The controller is low‐cost, easy‐to‐program microprocessor.
used to minimize the error between the desired and the actual it presents the design and the construction of electronic
positions. In doing so, the controller must meet certain systems for the control of an articulated robot developed
specifications. for research and development related with
These specifications such as reducing overshoot, minimizing instrumentation and control.
rising time and eliminating steady state error. In addition
reducing the load disturbances, which modeled on each
motor
This work investigates modeling and control of the robot
manipulator by analyzing the kinematics of the robot and Kinematic and Mathematical model
applying control techniques. Thesis work is undertaken in the Kinematic Analysis
following developmental stages; first, we derive the forward
q
and inverse kinematics equations of the robot. Forward Kinematic
Then the complete mathematical model for a 5DOF robot Inverse Kinematic
arm including the dynamics of the motor actuators in both
time and frequency domains is to be developed.
Development of Electronic Board
The next stage we apply the PID controller with a feed
forward compensator to reject the load of the motor, which
is modeled as disturbance.
Labview will be the platform to simulate the 1 DOF and the
5DOF robot arm as a case study in this research.
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Denavit and Hartenberg published a way to
The forward kinematic equations, describe the functional represent and a model to derive equation of
relationship between the joint variables and the position and
orientation of the end‐effector motion. Later, these techniques become the
standard
d d way to represent robot
b and d motion
modeling. The Denavit‐Hartenberg (DH)
model of representation is simple for any
robot configuration regardless of its
sequence or complexity. The final result of
the Denavit‐Hartenberg equations;
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the inverse kinematic (IK) is used to compute
the angle of each joint. The IK problem is
solved by using numerical approach due to its
degree
d off complexity
l
3
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The Labview Kinematics analysis graphical
user interface (GUI) was developed to
compute the forward and inverse kinematics
off Robot
b Arm V2
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A hierarchical approaches and methodologies
are commonly used for control system design
and synthesis. Well‐known model‐based
techniques are often applied to solve problems
of complex and large‐scale control systems.
The hierarchical design is translated into a
component‐based software design and control
system
Labview Robotic RS232 Microcontroller Microcontroller
module (master) (slave)
5 motor 5 PWM 15 Digital I/O
ffeedback
db k
5 units of
User defined End‐Effector Brushless DC
input data (gripper) motor driver
5 units of
Brushless DC
The hierarchical control architecture motor
In this paper, a control system design of 5
DOF Robot Arm V2 has been discussed.
A Labview GUI was developed to simulate the
manipulator kinematic behavior.
l k b h
The developed simulation model can be used
to create robotic arm path planning in any
assigned workspace.
5
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DC motor modeling
Dynamics study of 5 DOF robotic ARM
Autonomous control system
