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Intelligent Position Control of a Vertical Rotating Single Arm Robot Using BLDC Servo Drive
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  • Journal title : Journal of Power Electronics
  • Volume 16, Issue 1,  2016, pp.205-216
  • Publisher : The Korean Institute of Power Electronics
  • DOI : 10.6113/JPE.2016.16.1.205
 Title & Authors
Intelligent Position Control of a Vertical Rotating Single Arm Robot Using BLDC Servo Drive
Manikandan, R.; Arulmozhiyal, R.;
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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.
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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