AUTMan: Design, development and control of multi-DoF manipulators for use in robotics and automation demands

摘要

In this investigation, we aim to design and develop a robotic arm (manipulator) to be used in general Robotics and Automation demands. The main purpose of the AUTMan (Amirkabir University of Technology Manipulator) is for educational at technical levels. It is needed to design a high performance manipulator to have maximum ability of access and most efficient structure while displacing the objects. For this reason, first the operate the mechanical design aptly duo to the multi-tasking usage of the manipulator, then electronic design is done for having connection with computer and send or receiving data, finally we design a scenario in which AUTMan will follow the desired drawn path in the computer. In fact, the user gives a desired 2 dimensional profile and after processing, the manipulator start to draw the lines. The inputs are processed using MATLAB by solving the inverse kinematic equations of the manipulator for knowing each arm's position duo to a desired position of end effector. It is highly tried to improve the manipulator's response by designing controller and tuning the other effective parameter. In this study by use and experimentally tuning PID controller, which is the most common industrial controller for electrical motors, and also by tuning the other parameters; filtration domain of the noise and the actuation range of the motors we try to reach the most acceptable response. Eventually, by comparing the input and output of the manipulator, we intend to report the maximum error of AUTMan path drawing to show the performance accuracy of the manipulator. The overall system design shows that the system can operate with less error and can conveniently follow the desired paths.