Modeling a Controller for an Articulated Robotic Arm

Modeling a Controller for an Articulated Robotic Arm

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 wi...

Controller Design for a Robotic Arm System

An LPV Approach to Sensor Fault Diagnosis of Robotic Arm

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

High-precision robotic microcontact printing (R-μCP) utilizing a vision guided selectively compliant articulated robotic arm.

Increased realization of the spatial heterogeneity found within in vivo tissue microenvironments has prompted the desire to engineer similar complexities into in vitro culture substrates. Microcontact printing (μCP) is a versatile technique for engineering such complexities onto cell culture substrates because it permits microscale control of the relative positioning of molecules and cells over...

Multivariable Controller Design of a Lego Mindstorm NXT Robotic Arm

In this paper we present a 3R Lego Mindstorm robotic arm for a multivariable controller design through the use of Matlab and Simulink. System identification was performed to estimate the parameters of the system for a pick and place task. A Proportional-Integral (PI) controller was designed for a decoupled plant. Tustin and Forward Euler discretization techniques were compared to the continous ...