Modeling a Controller for an Articulated Robotic Arm

摘要

The precise control upon each degree of freedom of a robotic arm is a great challenge in implementing industrial work. This paper aims to design a novel controller for an automated robotic arm. A discrete Proportional Integral Derivative (PID) control technique is being used to replace the complex electronic circuitry, which would greatly reduce the cost and size of the controller. DC motors will be controlled on the basis of Closed-Loop System using an avr (Atmega 16/32) microcontroller. Transfer functions have been derived for mathematical modeling of the system through which the stability of the system can be evaluated prior to fabrication.