| Implementation of Position Control Servo DC Motor with PID Controller to Humanoid Robot Arm |
| Paper ID : 1147-IUGRC5 (R2) |
| Authors: |
|
Nada mohamed zakaria ali * الحى السابع مجاورة اولى ع 022 مدینه 6 اکتوبر |
| Abstract: |
| – In this paper implementation of position control servo DC motor with PID controller to humanoid robot arm is discussed. The objectives are development and analyze the movement of humanoid robotic arms before implementation to show the system response and get the least errors. Humanoid robot arms are mechanically controlled devices designed for emulated the movement of a human arm. The mathematical equations of servo DC motor are simulated and connected to PID controller using the MATLAB program. The PID controller is a closed loop feedback mechanism system. It calculates an error value from the difference measured process variable and desired value, and give pulse-width modulation (PWM) signal to send it to motor by microcontroller. As a result, the system response is getting without error and less overshoot. And besides, the disturbance is added to process (angle) and found that the system is returning stable after the disturbance is removed. With practical experience, the system achieved the same response and efficiency. Under this control, every joint of the arm could be moved by adjusting the angles of the motor. The different activities could be applied using the humanoid robot arm safely, because it’s stable system. |
| Keywords: |
| Humanoid robot arm, Servo DC Motor, PID controller, MATLAB simulink. |
| Status : Paper Accepted (Oral Presentation) |
