Design and Analysis of Robot PID Controller Using Digital Signal Processing Techniques

  • Authors

    • Mshari A. Asker
    • Khalaf S. Gaeid
    • Nada N. Tawfeeq
    • Humam K. Zain
    • Ali I. Kauther
    • Thamir Q Abdullah
    https://doi.org/10.14419/ijet.v7i4.37.23625

    Received date: December 10, 2018

    Accepted date: December 10, 2018

    Published date: December 13, 2018

  • Arduino, Bicep, DC motors, Forearm, PID controller, Robotic arm, Turntable, Wrist.

  • Abstract

    Recently robotic is a playing vital role in the life In our modern society, the usage of robotic arms are increasing and much of the work in the industry is now performed by robots. As robots begin to behave like humans in an intelligent manner, control system becomes a major concern. In this paper, design and analyses of  the pick and place robot due to control, the forearm, wrist, desired turntable and desired bicep is introduced to construct a closed system with four degrees of freedom (4DOFs). The main performance specifications are the accuracy and stability of the input system for obtaining a good system performance. Implementation of the control system using PID parameters for stability, minimum steady state error, minimum overshoot and faster system response has been carried out. The design  of two degree of freedom PID(2DoFPID) to control robotic arm along with first order low pass filter(LPF) to compensate the unwanted signal is improved. To be able to implement such a precise and effective system, feedback system has to be made to improve the overall performance specifications. The digital signal processing controller (Arduino Uno) is used as it is active, cheap , it has open source code and easy to use in the software and hardware applications.

    Experimental set up developed in addition to the Matlab/Simulink implementation of the complete system. The results and the communication signals test ensure smooth operation of the control system and the effectiveness of the proposed algorithm.

  • References

    1. Adrian I., R. Qiu, Dayou Li, 2017. A Simple, Cost Effective and Practical Implementation of SLAM Using ROS and Arduino. IEEE International Conference on Internet of Things,pp:835-840.
    2. Anish P., Shalini P., P. Gupta,2017. Intelligent navigation and con-trol of a mobile robot in static and dynamic environments using hy-brid fuzzy architecture. International Journal of Autonomic Compu-ting, 2( 3):255–281.
    3. Baikar P.,2014.Design of PID Controller Based Information Col-lecting Robot in Agricultural Field. International Journal of Ad-vanced Research in Electrical, Electronics and Instrumentation En-gineering, 3(8):11013-11019.
    4. Efy Lab,2017. Speed Control of DC Motor Using Pulse Width Modulation. Available: www.efy mag.com.
    5. Erik W., S. Gunnarsson,2006. Nonlinear Identification of a Physi-cally Parameterized Robot Model. 14th IFAC Symposium on Sys-tem Identification,pp:143-148.
    6. Fernandez A. J., G. J. Moreno, A. L. Barranco, M. J. Dominguez-Morales, R. P. Vicente, and A. C. Balcells,2012, A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs. Sensors (Basel), 12(4):3831–3856.
    7. Goldy K., S. Gupta, S. Kakkar,2013. Design and Operation of Syn-chronised Robotic Arm, International Journal of Research in Engineering and Technology,2(8):297-301.
    8. Haibin Y., Y. Kobayashi, T. Emaru,2011. Modeling and vibration analysis of flexible robotic arm under fast motion in consideration of nonlinearity. J Syst Des Dyn, 5:909–924.
    9. Jaffar S., Ali Raza, A. Nitish. Gupta, N. Chitaliya, G. Sukthan-kar,2018. Real World Modeling of a Pathfinding Robot Using Ro-bot Operating System (ROS). arXiv:1802.10138.
    10. Khalaf S. Gaeid,2013.Optimal Gain Kalman Filter design with DC motor speed controlled Parameters. journal of asian scientific re-search, 3(12):1157-1172.
    11. Khalaf S. Gaeid, J.Hameed, M.Ali, M. K. Habeeb,2013. Static DC Motor Speed Controlled Parameters Correction. British Journal of Applied Science & Technology,3(3):586-597.
    12. Liu Z., 2011. PWM speed control system of DC motor based on AT89S51, International Conference on Electronic and Mechanical Engineering and Information Technology (EMEIT),pp:1301-1303.
    13. Makkar C., W. E. Dixon, W. G. Sawyer, G.Hu,2005. A New Con-tinuously Differentiable Friction Model for Control Systems Design, IEEE/ASME
    14. International Conference on Advanced Intelligent Mechatron-ics, CA, pp:600-605.
    15. Michael M.,2014. Arduino Cookbook. O' Reilly Media, Inc.pp:1-800.
    16. Mohamed N.,2007. Pick And Place Robotic Arm Controlled By Computer. University Technical Malaysia Melaka,pp:1-103.
    17. Naser A., J. Shrivastava,2015. Performance comparison of robotic arm using Arduino and Matlab ANFIS. International Journal of Scientific & Engineering Research, 6(1):1077-1082.
    18. Neola R., A. Virgono, R. Erfa Saputra,2018. Design of Moving Simulator Prototype for Driving Training Subsystem Input System. International Journal of Applied Engineering Research, 13(4):1945-1950.
    19. Oshana R.,2006. DSP Software Development Techniques for Em-bedded and Real-Time Systems, A volume in Embedded Technolo-gy. Science Direct Elsevier Inc.,pp:1-608.
    20. Russell S., Peter Norvig,2016. Artificial Intelligence. A Modern Approach, 3rd Edn. Cram101, Pearson International.
    21. Sivakumar B. G.,2018. An independent situating &navigation Sys-tem for stair climbing robotic wheelchair. TAGA journal, 14:2771-2783.
    22. Syukriyadin S., S Syahrizal, G Mansur, H P Ramadhan,2018. Per-manent magnet DC motor control by using arduino and motor drive module BTS7960. OP Conf. Series: Materials Science and Engineering,352,pp:1-6.
    23. Svergja T., A. Mats, G. Rodseth,2016. System for Self-Navigating Autonomous Robots. Master thesis in Cybernetics and Robotics, Department of Engineering Cybernetics, Norwegian University of Science and Technology.
    24. Wan M., Hanif Wan Kadir, R. Ezuan Samin, Babul Salam Kader Ibrahim,2012. Internet Controller Robotic Arm. Procedia Engineer-ing 4,pp:1065 – 1071.
    25. www.Mathwork.com., 2018.
    26. Yaw Y., Lim, C. Lih Hooand Yen, Myan Felicia Wong,2018. Stabi-lizing an Inverted Pendulum with PID Controller. MATEC Web Conference, 152,pp:1-14.

  • Downloads

  • How to Cite

    A. Asker, M., S. Gaeid, K., N. Tawfeeq, N., K. Zain, H., I. Kauther, A., & Q Abdullah, T. (2018). Design and Analysis of Robot PID Controller Using Digital Signal Processing Techniques. International Journal of Engineering and Technology, 7(4.37), 103-109. https://doi.org/10.14419/ijet.v7i4.37.23625