Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator
In most conventional robotic arms, the motors are installed on the rotating shafts within the arm, which means that the shape and size of the motors must be considered in the design of the arm, while the weight of the motors increases the torque on the supporting joints generated during arm movement...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10288498/ |
| _version_ | 1797648655867445248 |
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| author | Jim-Wei Wu Tzu-Lin Lee You-Cheng Yan Chuan-An Chou Cheng-Chang Ho |
| author_facet | Jim-Wei Wu Tzu-Lin Lee You-Cheng Yan Chuan-An Chou Cheng-Chang Ho |
| author_sort | Jim-Wei Wu |
| collection | DOAJ |
| description | In most conventional robotic arms, the motors are installed on the rotating shafts within the arm, which means that the shape and size of the motors must be considered in the design of the arm, while the weight of the motors increases the torque on the supporting joints generated during arm movements. This paper presents a dual-axis robotic arm with the motors installed on the base of the device to overcome these issues. Movement around the first axis is driven by a gear, while that of the second axis is driven by a belt. Trajectory tracking is controlled by an adaptive sliding mode controller (ASMC). In simulations and experiments, the proposed robotic arm outperformed arms using PID control and sliding mode control (SMC) in terms of tracking accuracy and stability. |
| first_indexed | 2024-03-11T15:34:04Z |
| format | Article |
| id | doaj.art-6080cb7ade18412095d994b49a257c04 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T15:34:04Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-6080cb7ade18412095d994b49a257c042023-10-26T23:01:23ZengIEEEIEEE Access2169-35362023-01-011111711011712010.1109/ACCESS.2023.332637210288498Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque ManipulatorJim-Wei Wu0https://orcid.org/0000-0001-8332-768XTzu-Lin Lee1You-Cheng Yan2Chuan-An Chou3Cheng-Chang Ho4https://orcid.org/0009-0001-3893-9537Department of Electrical Engineering, National Central University, Taoyuan City, TaiwanDepartment of Electrical Engineering, National Central University, Taoyuan City, TaiwanDepartment of Electrical Engineering, National Central University, Taoyuan City, TaiwanDepartment of Electrical Engineering, National Central University, Taoyuan City, TaiwanDepartment of Electronic Engineering, Lunghwa University of Science and Technology, Taoyuan City, TaiwanIn most conventional robotic arms, the motors are installed on the rotating shafts within the arm, which means that the shape and size of the motors must be considered in the design of the arm, while the weight of the motors increases the torque on the supporting joints generated during arm movements. This paper presents a dual-axis robotic arm with the motors installed on the base of the device to overcome these issues. Movement around the first axis is driven by a gear, while that of the second axis is driven by a belt. Trajectory tracking is controlled by an adaptive sliding mode controller (ASMC). In simulations and experiments, the proposed robotic arm outperformed arms using PID control and sliding mode control (SMC) in terms of tracking accuracy and stability.https://ieeexplore.ieee.org/document/10288498/Robotic armlow torqueadaptive sliding mode controltracking error |
| spellingShingle | Jim-Wei Wu Tzu-Lin Lee You-Cheng Yan Chuan-An Chou Cheng-Chang Ho Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator IEEE Access Robotic arm low torque adaptive sliding mode control tracking error |
| title | Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator |
| title_full | Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator |
| title_fullStr | Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator |
| title_full_unstemmed | Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator |
| title_short | Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator |
| title_sort | mechanism development and pulse width modulation advanced controller design of low torque manipulator |
| topic | Robotic arm low torque adaptive sliding mode control tracking error |
| url | https://ieeexplore.ieee.org/document/10288498/ |
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