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

fYear

2012

fDate

6-8 Dec. 2012

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics (IICPE), 2012 IEEE 5th India International Conference on

Conference_Location

Delhi

ISSN

2160-3162

Print_ISBN

978-1-4673-0931-8

Type

conf

DOI

10.1109/IICPE.2012.6450482

Filename

6450482