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

  • Abstract
  • Keywords
  • References
  • PDF
  • 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.




  • Keywords

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

  • 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 control of a mobile robot in static and dynamic environments using hybrid fuzzy architecture. International Journal of Autonomic Computing, 2( 3):255–281.

      [3] Baikar P.,2014.Design of PID Controller Based Information Collecting Robot in Agricultural Field. International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering, 3(8):11013-11019.

      [4] Efy Lab,2017. Speed Control of DC Motor Using Pulse Width Modulation. Available: www.efy

      [5] Erik W., S. Gunnarsson,2006. Nonlinear Identification of a Physically Parameterized Robot Model. 14th IFAC Symposium on System 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 Synchronised 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. Sukthankar,2018. Real World Modeling of a Pathfinding Robot Using Robot 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 research, 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 Continuously Differentiable Friction Model for Control Systems Design, IEEE/ASME

      [14] International Conference on Advanced Intelligent Mechatronics, 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 Embedded and Real-Time Systems, A volume in Embedded Technology. 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 System for stair climbing robotic wheelchair. TAGA journal, 14:2771-2783.

      [22] Syukriyadin S., S Syahrizal, G Mansur, H P Ramadhan,2018. Permanent 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 Engineering 4,pp:1065 – 1071.

      [25], 2018.

      [26] Yaw Y., Lim, C. Lih Hooand Yen, Myan Felicia Wong,2018. Stabilizing an Inverted Pendulum with PID Controller. MATEC Web Conference, 152,pp:1-14.




Article ID: 23625
DOI: 10.14419/ijet.v7i4.37.23625

Copyright © 2012-2015 Science Publishing Corporation Inc. All rights reserved.