Abstract
Designing and controlling a robotic arm with great performance is one of the
fields of interest in many applications. This thesis is concerned with the
problems control of robot arm (mentor) using Proportional Integral Derivative
(PID) controller for axis1 (shoulder) and axis2 (elbow). The research work was
undertaken in the following developmental stages; first stage, estimation of the
transfer functions of Direct current (DC) motors actuators of tow axis’s using
system identification data driven control method depend on arduino Uno and
support package used to design simulinks in real time. Second stage, PID
Controller is designed by using MATLAB/SIMULINK and applied it to above
tow DC motors. Third stage, the simulation is performed to compare between
system before and after PID controller, this is done through the simulation on the
computer using MATLAB/SIMULINK. Fourth stage, implementing the PID
controller designed in second stage to tow axis of robot, and test the system in
real time to compares desired angle form and actual angle form response of DC motor.
Abdalla, H (2021). Designing and implementation of PID controller robotic arm. Afribary. Retrieved from https://track.afribary.com/works/designing-and-implementation-of-pid-controller-robotic-arm
Abdalla, Hosham "Designing and implementation of PID controller robotic arm" Afribary. Afribary, 21 May. 2021, https://track.afribary.com/works/designing-and-implementation-of-pid-controller-robotic-arm. Accessed 15 Nov. 2024.
Abdalla, Hosham . "Designing and implementation of PID controller robotic arm". Afribary, Afribary, 21 May. 2021. Web. 15 Nov. 2024. < https://track.afribary.com/works/designing-and-implementation-of-pid-controller-robotic-arm >.
Abdalla, Hosham . "Designing and implementation of PID controller robotic arm" Afribary (2021). Accessed November 15, 2024. https://track.afribary.com/works/designing-and-implementation-of-pid-controller-robotic-arm