Intelligent Position Control of a Vertical Rotating Single Arm Robot Using BLDC Servo Drive

Manikandan R.; Arulmozhiyal R.

Intelligent Position Control of a Vertical Rotating Single Arm Robot Using BLDC Servo Drive

Manikandan R.

Arulmozhiyal R.

Vol. 16, No. 1, pp. 205-216, Jan. 2016

10.6113/JPE.2016.16.1.205

Brushless direct-current (BLDC) motor

dSPACE DS1104

Fuzzy proportional?integral?derivative (PID) controller

Position servo drive

Vertical rotating single arm robot

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Abstract

The manufacturing sector resorts to automation to increase production and homogeneity of products during mass production, without increasing scarce, expensive, and unreliable manpower. Automation in the form of multiple robotic arms that handle materials in all directions in different stages of the process is proven to be the best way to increase production. This paper thoroughly investigates robotic single-arm movements, that is, 360° vertical rotation, with the help of a brushless DC motor, controlled by a fuzzy proportional?integral?derivative (PID) controller. This paper also deals with the design and performance of the fuzzy-based PID controller used to control vertical movement against the limited scope of conventional PID feedback controller and how the torque of the arm is affected by the fuzzy PID controller in the four quadrants to ensure constant speed and accident-free operation despite the influence of gravitational force. The design was simulated through MATLAB/SIMULINK and integrated with dSPACE DS1104-based hardware to verify the dynamic behaviors of the arm.

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Cite this article

[IEEE Style]

M. R. and A. R., "Intelligent Position Control of a Vertical Rotating Single Arm Robot Using BLDC Servo Drive," Journal of Power Electronics, vol. 16, no. 1, pp. 205-216, 2016. DOI: 10.6113/JPE.2016.16.1.205.

[ACM Style]

Manikandan R. and Arulmozhiyal R.. 2016. Intelligent Position Control of a Vertical Rotating Single Arm Robot Using BLDC Servo Drive. Journal of Power Electronics, 16, 1, (2016), 205-216. DOI: 10.6113/JPE.2016.16.1.205.