Investigating the Performance of a Simple Robotic System Using PID Controller | Chapter 02 | Novel Perspectives of Engineering Research Vol. 6

 The steady state error owing to applications of PID controller for different types of input signals, such as unit step, unit Ramp, and unit Parabolic, has been calculated in theoretical studies to determine the performance of a simple robotic system. A programming language in the 'C' programming language has also been developed to determine the overall gain of the system for various frequencies and hence plot the frequency response of the same. There have been some numerical computations performed. The findings have been compiled, graphed, and discussed. We also ignored the Coulomb force and errors caused by disturbance torque in the output shaft in this investigation.

Author(S) Details

Sreyasree Mandal
School of Computing & Information System, Grand Valley State University, Michigan, USA.

N. K. Mandal
University of Engineering & Management, Kolkata, India.

View Book:- https://stm.bookpi.org/NPER-V6/article/view/5496

Modelling and Comparative Analysis of 5R Manipulator Using Evolutionary Algorithms | Chapter 12 | Recent Developments in Engineering Research Vol.2

 

In this paper, the analysis and modeling of six joint axes of a robotic arm having three DOF spherical
arm and three DOF spherical wrist have been done to solve the kinematics and inverse kinematics.
Kinematics provides the rational explication of a robotic manipulator. Denavit-Hartenberg criterion has
been employed to solve the kinematics equations. MATLAB, Firefly Algorithm (FA), Artificial bee
colony (ABC) algorithm and Roboanalyzer have been implemented to find the inverse kinematics
solution, distance, absolute error and home position for six-DOF manipulator. Error can be optimized
to the desired level with the firefly algorithm.

Author (s) Details

K. Ashwani
Department of ECE, YCOE, Punjabi University Guru Kashi Campus, Talwandi Sabo, Bathinda, India.

Banga K. Vijay
Department of ECE, Amritsar College of Engineering & Technology, Amritsar, India.

K. Darshan

Depatment of ME, Beant College of Engineering & Technology, Gurdaspur, India.

View Book :- https://bp.bookpi.org/index.php/bpi/catalog/book/236