MATEC Web Conf.
Volume 125, 201721st International Conference on Circuits, Systems, Communications and Computers (CSCC 2017)
|Number of page(s)||6|
|Published online||04 October 2017|
A Comparative Study of Control Methods for a Robotic Manipulator with Six DOF in Simulation
Piraeus University of Applied Sciences, Department of Automation Engineering, 12244, P. Ralli & Thivon 250, Athens, Greece
* Corresponding author: firstname.lastname@example.org
In this paper a comparative study of the classical control methods for the testing of a mathematical model, which controls six actuators of a six degrees of freedom robotic arm with a single controller, is illustrated, aiming to the constructive simplification of the system. In more detail, a mathematical model of the system is designed which simulates all mechanical parts, including 5-way directional pneumatic valve, the pneumatic actuators/pistons and the mathematical model of the controller. The purpose of the above is the tuning of a Single Input, Multiple Output (SIMO) controller which will direct the motion of the six pneumatic pistons. The thorough analysis of the implementation of the pneumatic system in Matlab/Simulink environment is followed by experimentation and results using Proportional (P), Proportional-Integral (PI), Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) controllers. The simulation results show the advantages of the above classical control methods on the robotic human arm which imitating human motion and made by a well-known company in the field of pneumatic automation.
© The Authors, published by EDP Sciences, 2017
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