Tracking Control Performances Of A Dual-Limb Robotic Arm System

Md Ghazaly, Mariam and Tee, Siau Ping and Tan, Ping Khai and Chong, Shin Horng and Che Amran, Aliza and Jamaluddin, Muhammad Herman and Mohd Aras, Mohd Shahrieel (2016) Tracking Control Performances Of A Dual-Limb Robotic Arm System. International Journal of Mechanical and Mechatronics Engineering, 16 (5). pp. 48-53. ISSN 2077-124X

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Abstract

This paper discuss the tracking control performances of a dual-limb robotic arm system for precision motion and high speed response. In this paper, the focus is to fabricate & analyze the control performances of an upper duallimb robotic arm system which are able to move in parallel motion. The experimental results are obtained through open-loop and closed-loop test. The system transfer function is evaluated experimentally via system identification method. In this paper the Proportional and Derivative (PD) controller is used to control the trajectory motion of the dual-limb robotic arm system. The PD controller with proportional gain Kp = 169 and derivative gain KD = 1.1412 shows good performances using step input reference. To further verify the robustness of the controller, tracking control experiments are performed with rectangular & triangular input trajectory. The PD controller shows the dual-limb robotic arm system able to show good performances with the steady state error less than 0.4° for the 15° triangular input references with 0.1Hz frequency, respectively.

Item Type:	Article
Uncontrolled Keywords:	1-DOF, PID controller, Robotic arm, Trajectory tracking control
Divisions:	Faculty of Electrical Engineering
Depositing User:	Muhammad Afiz Ahmad
Date Deposited:	31 Jul 2017 00:59
Last Modified:	25 Jul 2021 20:59
URI:	http://eprints.utem.edu.my/id/eprint/18873
Statistic Details:	View Download Statistic

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