robotic arm control system

The controller must provide fast, efficient and robust control of the arm to provide for proper interaction with plants. For simplicity, only one motion control loop is shown in Figure 1.4 , but there are actually n loops for an n -D.O.F. A simple robotic manipulator is shown in Figure 1.4a, and a block diagram of its digital control system is shown in Figure 1.4b. manipulator. Progress 09/01/11 to 08/31/12 Outputs OUTPUTS: The project objective was for Vision Robotics Corporation (VRC) to research and develop the architecture, algorithms, software and hardware needed for a high-speed and low latency closed loop robotic arm controller for agricultural. Robot Control System Task The task of a robot control system is to execute the planned sequence of motions and forces in the presence of unforseen errors. Basic Concepts of Robot control.

Robotic arm made of Android phone or tablet control; it can carry the desired material, mix it up and perform the com mands previously determined b y a user. Figure 2: Simulink model of robotic arm. Each PI controller is implemented using the "2-DOF PID Controller" block from the Simulink library (see PID Tuning for Setpoint Tracking vs. Disturbance Rejection example for motivation).

The "Controller" subsystem consists of six digital PI controllers (one per joint).

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