Experiments on Motion Control of Two-Joint Articulated Hopping Robot with Stopper Mechanisms

2005 ◽  
Vol 17 (1) ◽  
pp. 89-100
Author(s):  
Gustavo Kato ◽  
◽  
Hiroyuki Kojima ◽  
Mamoru Yoshida ◽  
Yusuke Wakabayashi ◽  
...  
Keyword(s):  
Angular Momentum ◽  
Control System ◽  
Motion Control ◽  
Dc Motor ◽  
Rotational Dynamics ◽  
Control Voltage ◽  
Dc Motors ◽  
Hopping Robot ◽  
New Type ◽  
Motion Performance

In this report, a new-type two-joint articulated hopping robot with two stopper mechanisms is developed. The two rotary joints are actuated by two DC motors with reduction gears. In this new-type two-joint articulated hopping robot with two stopper mechanisms, the hopping motion actions are achieved by the two joint rotational dynamics and the two stopper mechanisms. Using the two stopper mechanisms, the angular momentums and momentums of the two links are transformed into the hopping motion action according to the law of conservation of angular momentum and momentum. Then, the hopping motion control system is constructed to fit the DC motor characteristics, and the effects of the stopper settings and the delay time of the control voltage of the DC motor on the hopping motion performance are experimentally investigated. Furthermore, the examples of the hopping motion control experiments are demonstrated, and it is confirmed that the forwards and backwards hopping motion actions can be successfully performed.

Dual DC Motor Speed Control Based on Two Independent Digital PWM Signals using PIC16F877A Microcontroller

2016 ◽  
Vol 2 (3) ◽  
pp. 592
Author(s):  
Ayman Y. Yousef ◽  
M. H. Mostafa
Keyword(s):  
Control System ◽  
Software Package ◽  
Speed Control ◽  
Dc Motor ◽  
Open Loop ◽  
Motor Speed ◽  
Dc Motors ◽  
Duty Cycles ◽  
Speed Control System ◽  
Control System Model

<p>In this paper a dual open loop speed control system based on two independent PWM signals of small permanent magnet DC (PMDC) motors using PIC16F877A microcontroller (MCU) has been designed and implemented. The Capture/Compare/PWM (CCP) modules of the MCU are configured as PWM mode and the MCU is programmed using flowcode software package to generate two PWM signals with various duty cycles at the same frequency. A dual H-bridge channel chip SN754410 is used to drive the motors. The variation of PWM duty cycles is related directly to controlling the DC motors terminal voltage which directly proportional with speed of each motor. The complete PWM control system model has been simulated using proteus design suite software package. The development of hardware and software of the dual DC motor speed control system has been explained and clarified.</p>

scholarly journals DESARROLLO DE UNA PLATAFORMA ROBÓTICA ORIENTADA A LA EDUCACIÓN

2013 ◽  
Vol 1 (2) ◽  
Author(s):  
Carlos Romero ◽  
Jhon Nieto ◽  
Fernando Méndez ◽  
Carlos Ochoa
Keyword(s):  
Control System ◽  
Computer Science ◽  
Motion Control ◽  
Obstacle Detection ◽  
Central Unit ◽  
Intelligent Algorithms ◽  
Design And Implementation ◽  
Motion System ◽  
Dc Motors ◽  
El Sistema

Este artículo presenta el diseño e implementación de una plataforma móvil autónoma para la investigación de algoritmos inteligentes, enfocada a la formación en ciencias de la computación a través de la robótica. El prototipo se elaboró sobre una estructura en acrílico soportada con una rueda omnidireccional y dos ruedas acopladas a sus correspondientes motores de DC dotados de caja de reducción, cada una con sensores de velocidad para permitir el control de movimiento del sistema. Como unidad central se configuró y programó la tarjeta Arduino Leonardo, la cual interconecta el sistema de movimiento, los sensores de detección de obstáculos y un arreglo de sensores que constituyen el módulo seguidor de línea. Todos estos componentes se encuentran repartidos en la estructura de tal forma que permiten la interoperabilidad de los mismos y la coordinación de sus funciones.AbstractThis paper presents the design and implementation of an autonomous mobile platform for the research of intelligent algorithms, focused on training in computer science through robotics. The prototype was made on an acrylic structure supported with an omnidirectional wheel and two wheels coupled to the corresponding DC motors provided with reduction box, each with speed sensors to allow motion control system. As a central unit was configured and programmed the Arduino Leonardo card, which interconnects the motion system, sensors obstacle detection and an array of sensors that make up the line follower module. All these components are distributed in the structure such that allow interoperability of these and coordinate their functions.

scholarly journals Implementasi Sistem Kontrol Fuzzy pada Robot Lengan Exoskeleton

Jurnal METTEK ◽  
2018 ◽  
Vol 4 (2) ◽  
pp. 54
Author(s):  
Wayan Reza Yuda Ade Prasetya ◽  
I Wayan Widhiada
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Fuzzy Logic Control ◽  
Dc Motor ◽  
The Body ◽  
Peak Time ◽  
Servo Motor ◽  
Dc Motors ◽  
Logic Control ◽  
Exoskeleton Robot

Manusia ingin dilahirkan dalam kehidupan yang sempurna, baik jasmani maupun rohani. Tetapi dalam kenyataannya, manusia jauh dari sempurna. Salah satu ketidaksempurnaan yaitu kelumpuhan pada lengan. Penelitian yang sekarang berkembang yaitu robot exoskeleton. Exoskeleton merupakan struktur pendukung dari bagian luar tubuh. Robot ini memiliki aplikasi prospektif untuk rehabilitasi atau alat bantu. Sistem kontrol exoskeleton yang sukses bergantung pada pemahaman yang lebih baik dalam biomekanik gerak tubuh manusia dan mekanisme sensorik yang juga merupakan masalah penting dalam interaksi fisik manusia-robot. Robot siku lengan yang dikembangkan oleh Thomas menggunakan servo motor sebagai aktuator. Semakin berat beban, semakin besar torsi servo tersebut. Di Indonesia tidak dijumpai servo dengan torsi tinggi. Hanya motor DC yang banyak di pasaran. Untuk menekan biaya pengembangan robot lengan exoskeleton, penelitian menggunakan motor DC. Sistem kontrol diperlukan untuk membuat sebuah motor DC bergerak seperti layaknya motor servo. Sistem kontrol logika Fuzzy paling tepat untuk mengontrol motor DC. Sebuah prototype robot lengan exoskeleton dibuat. Motor DC sebagai penggerak lengan robot. Sistem kontrol Fuzzy pada robot dibuat menggunakan software SIMULINK/MATLAB. Gerak robot dibatasi dari 0o sampai 90o. Sistem akan diuji menggunakan SIMULINK/MATLAB dan dilakukan dengan interface prototype exoskeleton. SIMULINK/Matlab memudahkan pembuatan Logika Fuzzy yang dapat mengontrol Motor DC bergerak layaknya motor servo. Data Parameter respon transient dari hasil pengujian prototype selama 20 detik, waktu tunda (td) = 1.16, waktu naik (tr) = 1.98, waktu puncak (tp) = 2.16 . Data parameter sistem kontrol Logika Fuzzy lebih baik daripada sistem kontrol sederhana yang dibuat. Humans want to be born in a perfect life, both physically and spiritually. But in reality, humans are far from perfect. One of the imperfections is arm paralysis. The current study is an exoskeleton robot. The exoskeleton is the supporting structure of the outer part of the body. This robot has a prospective application for rehabilitation or aids. Successful exoskeleton control systems rely on better understanding of the biomechanics of human body motion and the sensory mechanisms that are also important problems in human-robot physical interactions. The elbow arm robot developed by Thomas uses servo motors as actuators. The heavier the load, the greater the servo torque. In Indonesia there is no servo with high torque. Only DC motors are in the market. To reduce the development cost of robotic arm of exoskeleton, research using DC motor. A control system is needed to make a DC motor move like a servo motor. Fuzzy logic control system is most appropriate for control of DC motors. A prototype of an exoskeleton robot arm is made. DC motor as a actuator robot. Fuzzy control system on the robot is made using SIMULINK / MATLAB software. Robot motion is limited from 0o to 90o. The system will be tested using SIMULINK / MATLAB and done with prototype exoskeleton interface. SIMULINK / Matlab facilitate the manufacture of Fuzzy Logic that can control the motion of DC motors like servo motors. Data Parameter transient response from prototype test result for 20 seconds, Delay time (td) = 1.16, Rise time (tr) = 1.98, Peak time (tp) = 2.16. Data parameters Fuzzy Logic control system is better than the simple control system created.

Modeling and Optimizing of Control System with Full-State Feedback and Integral Output Feedback for DC Motor

2011 ◽  
Vol 130-134 ◽  
pp. 2876-2880
Author(s):  
Qiang He
Keyword(s):  
Control System ◽  
Output Feedback ◽  
State Feedback ◽  
Dynamic Performance ◽  
State Space Model ◽  
Poor Performance ◽  
Dc Motor ◽  
Dc Motors ◽  
Full State ◽  
Full State Feedback

Conventional single closed-loop system of DC motor with speed-feedback has poor performance when some stochastic disturbances take place. To handle this shortcoming, the control system with full-state feedback and integral output feedback of DC motor is proposed. The state-space model of the full-state feedback of DC motors is established. The feedback gains of the control system are optimized by Particle Swarm Optimization algorithms based the simulation model. The simulation results show that the control system with full-state feedback of DC motors has better dynamic performance.

scholarly journals Design and implementation speed control system of DC Motor based on PID control and matlab simulink

2020 ◽  
Vol 11 (1) ◽  
pp. 127
Author(s):  
Salman Jasim Hammoodi ◽  
Kareem Sayegh Flayyih ◽  
Ahmed Refaat Hamad
Keyword(s):  
Control System ◽  
Pid Control ◽  
Pid Controller ◽  
Control Algorithm ◽  
Speed Control ◽  
Dc Motor ◽  
Motor Speed ◽  
Matlab Simulink ◽  
Dc Motors ◽  
Electronic Controller

<span>In this paper, we first write a description of the operation of DC motors taking into account which parameters the speed depends on thereof. The PID (Proportional-Integral-Derivative) controllers are then briefly described, and then applied to the motor speed control already described , that is, as an electronic controller (PID), which is often referred to as a DC motor. The closed loop speed control of a Brush DC motor is developed applying the well-known PID control algorithm. The objective of this work is to designed and simulate a new control system to keep the speed of the DC motor constant before variations of the load (disturbances), automatically depending to the PID controller. The system was designed and implementation by using MATLAB/SIMULINK and  DC motor.</span>

scholarly journals Motion control applications: observer based DC motor parameters estimation for novices

2019 ◽  
Vol 10 (1) ◽  
pp. 195 ◽  
Author(s):  
Branesh M Pillai ◽  
Jackrit Suthakorn
Keyword(s):  
Motion Control ◽  
Dc Motor ◽  
Parameters Estimation ◽  
Moment Of Inertia ◽  
Control Applications ◽  
Precise Control ◽  
Dc Motors ◽  
Acceleration And Deceleration ◽  
Velocity Motion ◽  
Torque Observer

<span>Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (&lt;100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate.  This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.</span>

Design and Development of DC Motor Speed Control System Based on ARM

2014 ◽  
Vol 926-930 ◽  
pp. 1239-1242 ◽  
Author(s):  
Dong Xiang Liu
Keyword(s):  
Motor Control ◽  
Control System ◽  
Speed Control ◽  
Dc Motor ◽  
Servo Motor ◽  
Motor Speed ◽  
Industrial Control ◽  
Dc Motors ◽  
Speed Control System ◽  
Interaction Interface

With the continuous development of embedded technology and its application in the field of industrial control and more and more people's attention, and play an important role. With ARM processors as controllers, including human-computer interaction interface, DC power unit and its driver modules, load and drive modules section. ARM controller by a/d sampling speed to get the error signal, and then after a certain algorithm, by d/a converter to control DC motors, so as to achieve the purpose of controlling the speed. In addition, ARM controllers can also be set through the d/a converter load to facilitate research of DC motor speed control system of static and dynamic characteristics in different load. Research and development of DC servo motor control system based on ARM core of DC servo motor control is a relatively new field, is one of the control of DC servo motor trend.

scholarly journals Investigation on Standardization of Modal Space by Ratio for MDOF Micro-Macro Bilateral Teleoperation Control System

2016 ◽  
Vol 10 (11) ◽  
pp. 98
Author(s):  
Jun Wei Lee ◽  
Zaki bin Hj Shukor Ahmad ◽  
Herman bin Jamaluddin Muhammad
Keyword(s):  
Control System ◽  
Dc Motor ◽  
Bilateral Teleoperation ◽  
Direct Drive ◽  
Bilateral Control ◽  
Dc Motors ◽  
Output Torque ◽  
Output Force ◽  
Modal Space ◽  
High Output

 This paper presents the research on micro-macro bilateral teleoperation control system of two ink planar manipulator. The micro-macro bilateral control system consists of different size between master and slave system using geared DC-motor. Both master and slave manipulators are actuated by DC-Micromotor attached to planetary gearhead to increase the output torque. In the previous researches the most common actuators used were linear motor and direct-drive DC motors. However, the application of DC motor with gearhead are vast in industry, which need high output force or torque. Thus in this paper, research on micro-macro bilateral teleoperation control system is proposed with the use of gear with the DC-motor. The micro-macro bilateral teleoperation control system provides the human operator with a sense of feel to a micro or macro environment as if it is in the same scale environment. Thus a standardization method is proposed to achieve micro-macro bilateral teleoperation control system. During the experiment, experiment on free motion and contact motion are conducted to validate the proposed setup in bilateral teleoperation control system. The position and torque responses of both master and slave manipulators are observed. The operationality and reproducibility of this proposed system are evaluated through proposed experimental results.

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