Art 2
Art 2
C. G. I. Partha
Electrical Engineering Department, University of Udayana, Campus Bukit, Jimbaran, Badung, Bali, 80362, Indonesia
Email: [email protected]
Abstract—The aim of this paper is to examination is connected with a virtual actuator in the form of a DC
application of Proportional, Integral and Derivative Control motor [1].
(PID) to regulate the movements of the mobile robot arm The force analysis for multi fingered robot gripper was
gripper. Simulation and experimental methods were utilized
demonstrated to pick up some different objects. Each of
to verify the sophistication of PID control to regualte the
mobile robot manipulator in the collection and placement of fingers pressured the surface of object with different
several kinds of objects quickly, accurately and correctly. force [2]. According to E. Shojaei Barjuei [3], analysis of
The mathematical modeling is used to utilize the integration hybrid position control for spatial compliant mechanism
of Auto-Desk (Inventor) and MATLAB / Simulink / was developed in high accurate dynamics system based
SimMechanics software. This method works by converting on rigid link theory and finite element. The performance
the physical model file into the xml file. This method is of motion control is measured to achieve the minimal
absolutely accurate to build the modeling and design error signal of trajectory tracking is 2.6 degree.
robotics. The automatic control design of this robot The method of trajectory control was developed to
manipulator is validated in simulations and experimental in
effectiveness to movement the gantry cranes to handling
control labs as evidence that the mobile robot arm control
design can achieve the best performance such as the error some objects. Some tracking simulations of gantry cranes
signal is lower than 2%. The maximum overshoot signal is robot was demonstrated to perform of robot capability of
less than 2.5% and the stability signal response is achieved simple method [4]. The simulation of PID control robot
within a short time of 5s. manipulator with five fingers was demonstrated to get the
best performance of kinematics motions. Each of fingers
Index Terms—pid control, control motions, mobile robot can move as similar with the input references [5,6].
arm gripper, performance In this research, the author’s has used both a
simulation and an experimental to build a mobile robot
arm gripper using MATLAB/Simulink software to
I. INTRODUCTION compute the response transients. The purpose of this
The technology of automatic robot manipulator has research is to get precise and accurate method in
developed to support in the world of industries, space modeling and designing hand robotic cars. Therefore, in
exploration, university laboratory and human life. Mobile this research will be introduced how to model 3D car
robot arm gripper is a robot system which is used to pick- robot manipulator gripper with multi DOF with accurate
up some tasks automatically. Along with the breadth of as well as make programming control system prototype
industrial robot use in recent time of the year, research on car robot hand with MATLAB / Simulink.
control methods for mobile robot arm has become a This PID control is the most important substance in the
popular research topic of engineering. Given the complex distribution of hand car robot control systems.
nonlinear and limiting factors, it is very difficult to design Proportional, integral and derivative controls are the
a natural system with a high degree of difficulty in feedback control methods as the main tool of the user.
mathematical methods. Advance PID tuning is able to adjust both kinematics and
Mobile robot arm gripper car has 8 Degrees of freedom. dynamic system gain parameters quickly and accurately.
This robot car has 4 wheels driven by using a servo dc PID control is expected to achieve the smaller errors
motor respectively. His arm is driven with 5 pieces of and overshoot signals until finally reaching steady state.
motor dc and the gripper is driven by single of dc motors. The system response can be seen after the system is given
Time optimal planning for robot manipulator is different input signal. This combination of input signals
and control actions will produce different responses).
demonstrated to follow the track of Cartesian trajectory.
Simulations using computer software will be done before
To move the radius it will be installed a revolute joint that
the creation of a prototype. The optimization of classical
PID control for robot manipulator was presented [7]. The
Manuscript received February 10, 2020; revised September 18, 2020.
A. Description of Research
Fig. 1 shows the design of a mobile robot arm gripper
that designed in Inventor program. Mobile robot arm
gripper mounted on romper and robot that can move back
and forth to reach the target.
described. Now a mobile robot arm gripper model is motor. The result of desired response has shown that
made as a detailed sample. adaptive PID control to be affective to track the desired
Mathematical modeling for mobile robot arm system is torque.
implemented in program using SimMechanics program. Advance PID tuning is able to adjust the gain system
The mathematical modeling is illustrated in the block parameter dynamically quickly and appropriately to get
diagram as shown in Fig. 3. the robust design with response time is ideal and can be
used on single and multi-loop PID tuning methods.
Special model of working order with PID tuner is
following some rules.
The input reference is built as a pattern of the speed
DC motor which uses the signal builder block. Fig. 4
shows the movement of a mobile robot arm gripper can
be visualized using SimMechanics Toolbox in Simulink.
This robot arm car moves according to the desired
reference input and will generate actual output.
The motor lever motion reference is determined by prototype of robot arm is started to build. The
varying the reference being tested so that variations in the construction of mobile robot arm is demonstrated in Fig.
response of the work of each actuator are obtained. 6.
Because each arm's actuator is not the same in its angle of
motion, the references given are different. The simulation
test with reference variations is carried out for 10 seconds.
PID control will control the position, angular velocity,
and angular acceleration at the joints of each lever of the
robot arm joint. By clicking the "Tune" button. The
MATLAB program will identify the plant that was made
and provide the PID parameters that match the plant.
By using Tune PID, we get Kp = 1.3245, Ki = 12.5862,
and Kd = 0. The response of the system using these
parameters can be seen transient response from the
simulation test results on the forearm for 20 seconds
obtained,
Delay time, td <0.8s
Rise time, tr < 2s Figure 6. The Prototype of Mobile Robot Arm Gripper.
Peak time (tp time), tp < 2.7s
Maximum overshoot, Mp <2.5% Fig. 7 shows the block diagram of mobile robot arm in
Settling time, ts < 5s MATLAB/Simulink. The reference input as a dc servo
motor movement reference is controlled by PID Control
then the output signal is forwarded to the mathematical
E. Prototype Building
modeling of the motor dc system. The Mathematical
The assembly of the mobile robot arm gripper is shown modeling toolbox with the Arduino servo block is
in Fig. 6. The prototype robot matches the initial design is obtained by installing the support package from
drawn in 3D Inventor software. This robot has used an Mathworks.com. Furthermore, if the output is not in
Arduino AT Mega 2560 as a microprocessor. The support accordance with input reference then the output is in
package Arduino AT Mega program has installed in correction a again until obtained the output in accordance
toolbox MATLAB/Simulink. When the simulation with the will of the user.
program is ready to get a good performance that the
was the start of the motor moving at 90o so that on the [4] Firooz Bakhtiari-Nejad. Tracking Control Of An Underactuated
Gantry Crane Using An Optimal Feedback Controller,
graph the test results obtained the initial motion was not
International Journal of Automotive and Mechanical Engineering.
at condition 0. 2013 Vol. 7, pp. 830-83.
The prototype test results show that the time needed [5] W.Widhiada and G. P. A. Suryawan , Dexterity Robot
for the motor is longer than the simulation test. Prototype Manipulator Gripper Using Auto Tuning of PID Control,
International Journal of Mechanical Engineering and Robotics
test results are not much different from the results of
Research. 2017 Vol. 6, No. 6.
simulation testing, servo motors need a few seconds to [6] Ilse Cervantes, Jose Alvarez-Ramirez, On the PID tracking control
reach the given reference point. An oscillation occurs in of robot manipulators. Systems & Control Letters Elsevier Science.
the prototype test results that replace this sensor which 2001,Vol 42, pp.37-46.
[7] Vikram Balaji, M.Balaji, M.Chandrasekaran, M.K.A.Ahamed
replaces non-linear. These disturbances change with each
khan, Irraivan Elamvazuthi, Optimization of PID Control for High
trial prototype, making it difficult to resolve the exact Speed Line Tracking Robots, IEEE International Symposium on
problem. Robotics and Intelligent Sensors, Procedia Computer Science Vol.
76 , pp. 147 – 154, 2015.
[8] Farzin Piltan, Mohammad H Yarmahmoudi, Mohammad
IV. CONCLUSION Shamsodini, Ebrahim Mazlomian, PUMA-560 robot manipulator
The auto PID control system can speed up the response position computed torque control methods using Matlab/Simulink
and their integration graduate nonlinear control and Matlab
of a system. Utilizing auto tuning on the PID controller in courses, International journal of Robotics and Automation 2012,
the SIMULINK / MATLAB toolbox makes it easy to Vol.3 (3), pp.167-191.
specify optimal PID parameters. From the results of the [9] Amit Shukla And Hamad Karki “ Modeling Simulation & Control
transient response obtained the speed of motion response Of 6-DOF Parallel Manipulator Using PID Controller And
Compensator ” IFAC Proceedings Volumes, 3rd International
from DC motors can be improved and can achieve Conference On Advances In Control And Optimization Of
stability quickly. The prototype test results obtained Dynamical Systems, 2014,Vol. 47, Issue 1, 2014, Pp. 421-428.
Delay time is approximately 0.8s, rise time is less than 2s,
peak time is achieved at 2.7s, settling time is less than 5s, Copyright © 2020 by the authors. This is an open access article
distributed under the Creative Commons Attribution License (CC BY-
maximum overshoot is less than 2.5% and error signal is NC-ND 4.0), which permits use, distribution and reproduction in any
approximately 2%. medium, provided that the article is properly cited, the use is non-
commercial and no modifications or adaptations are made.
CONFLICT INTEREST
I Wayan Widhiada, ST, MSc, PhD has
The authors declare no conflict of interest. worked as a lecturer in Mechanical
Engineering Department, Engineering Faculty
of Udayana University, Denpasar, Bali,
AUTHOR CONTRIBUTIONS Indonesia since 1996.He was born in Badung,
Bali, Indonesia on 19 November 1968.He
Conceptualization, W.W. and C.G.I.P.; methodology, completed Postgraduate Doctor Program in
W.W, I.G.N.N.S.; software, W.W., and C.G.I.P.; Mechanical Engineering at School
validation, W.W., I.G.N.N.S. and C.G.I.P.; formal Engineering of Liverpool John Moores
analysis, W.W.; investigation, W.W. and I.G.N.N.S.; University-United Kingdom November 2012.
His study research is about Robotic and control.
resources, W.W.; data accurate, W.W.; writing—original He focuses to develop the research in robotic and control research. He
draft preparation, W.W.; writing—review and editing, was a reviewer paper in IEEE/RSJ International Conference on
W.W. and I.G.N.N.S.; visualization, W.W.; supervision, Intelligent Robots and Systems 2014
W.W.; project administration, C.G.I.P.; funding
Dr.Ir. I Gusti Ngurah Santhiarsa, MT., is a
acquisition, W.W. lecturer in department of mechanical
Engineering, Udayana University in Bali. He
ACKNOWLEDGMENT completed the doctore program in Institute of
Technology Surabaya (ITS). He is also a
On behalf of this research upon the design control of researcher in field of vibration control and
mobile robot manipulator, I would like to thank the material.
research team at the mechanical engineering department
of Udayana University, for their contributions in
supporting this research.
Ir. Cokorde Gede Indra Partha,
M.Erg.,MT has worked as a lecturer in
REFERENCES Electrical Engineering Department,
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Robotic Arm, 10th National Conference on Technological Trends Denpasar, Bali, Indonesia. He was born on 25
(NCTT09), pp.224-228, 2009. May 1065 in Jakarta. He completed Master
[2] W.Widhiada, N.S.Kumara and T.G.T. Nindhia, Analysis Of Degree Program at Institute Technology
Control Force Grasping For A Multifunctional Five Fingered, Surabaya (ITS). He focus to develop the
2016,Web of Conferences MATEC, Vol.59, pp.1-5. research in Electrical and Mechatronics.
[3] E. Shojaei Barjuei. Hybrid position/force control of a spatial
compliant mechanism, International Journal of Automotive and
Mechanical Engineering. 2017, Vol. 14, Issue 3 pp. 4531-4541.