Development of a robotic arm suitable for demonstration of advanced control methods
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Date
2017
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Abstract
—Our article deals with the development of a robotic
arm with “open control system” (for this particular application -
with two degrees of freedom and possibility to add). The open
control system allows, together with the known parameters of our
robotic arm, to use advanced control methods. The robotic arm is
controlled by a PLC and automatically generated code via tools -
BR Target for Simulink. This tool allows us to convert Simulink
models into an automatically generated code in C/C++ and its
direct implementation on PLCs. This method of a design allows
an easy implementation for sophisticated simulation models and
control structures. The article focuses on the preparation and
evaluation of the properties of a robotic arm for implementation
possibilities of advanced control methods. At first, we found the
physical limitations of the individual actuators. Then we dealt
with the problems of generating the trajectory with respect to the
physical limitations of the individual actuators. For the dynamics
of the robotic arm spline functions for trajectory generation and
performed measurements of lag errors are used. In conclusion,
we evaluated the advantages and disadvantages of this method of
control and outlined possible applications for which we can apply
this kind of control.
Description
Subject(s)
robot control, robot kinematics, spline function, matlab, Manipulators, software packages, trajectory, service robots, splines (mathematics)
Citation
ISSN
ISBN
978-153863842-2