Motion Control of a Robot Arm

Abstract:

The article designs a seven joints robot arm using PC-based controller. The system architecture of the robot arm contains seven DC servomotors, seven driver devices and a NI motion control card. The robot arm uses proximity sensors to locate the limit position, and programs motion trajectories to finish assigned tasks. We tune the parameters of the PID controller for the robot arm, and get the nice response to control the robot arm moving to the assigned position. The user interface is developed to control each DC servomotor using Visual Basic. The paper computes the kinematic equations of the seven joints robot arm, and calculates the motion displacement of each joint using inverse kinematic equation. The controller of the robot arm can implement precision point to point motion trajectories, and programs the motion paths on the user interface. In the experimental result, users can program the word type in the user interface. The robot arm catches the pin to write the word in the plane.

• Periodical: Applied Mechanics and Materials (Volumes 479-480)
• Pages: 768-772
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.479-480.768
• Online since: December 2013
• Authors: Kuo Lan Su, Bo Yi Li, Jr Hung Guo, H.H. Kevin Chau
• Keywords: DC Servo Motor, NI Motion Controller Card, PC-Based Controller, PID Controller, Robot Arm

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