Title :
Control of 2-DOF robotic manipulator using brushless DC motor to track the motion of object in a plane
Author :
Saini, Deepika ; Gaur, Prerna
Author_Institution :
Div. of Instrum. & Control Eng., Netaji Subhas Inst. of Technol., New Delhi, India
Abstract :
In this paper, a 2-DOF robotic manipulator is controlled to track the motion of object in a plane using brushless DC motor as an actuator. Two brushless DC motor are used to actuate the each of two revolute joints of the 2-DOF robotic manipulator. To control the angular position of robotic arm fuzzy PD controller is used. To generate the Smooth trajectory for joint angle of robotic manipulator, cubic polynomial equation is used. The link lengths for two links and time for tracking is specified. It is shown that the end-effector of the manipulator reaches from initial to final co-ordinate of the object in specified time.
Keywords :
PD control; brushless DC motors; fuzzy control; machine control; manipulators; motion control; 2-DOF robotic manipulator control; brushless DC motor; cubic polynomial equation; object motion; robotic arm fuzzy PD controller; Brushless DC motors; Equations; Kinematics; Manipulators; Mathematical model; Trajectory; BLDC; end-effector; farward and inverse kinematic;
Conference_Titel :
Power Electronics (IICPE), 2012 IEEE 5th India International Conference on
Conference_Location :
Delhi
Print_ISBN :
978-1-4673-0931-8
DOI :
10.1109/IICPE.2012.6450482
