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International Journal of Mechanical Engineering and Robotics Research Vol. 9, No.

11, November 2020

Design of Motion Control for Mobile Robot


Manipulator
W. Widhiada and I. G. N. Santhiarsa
Mechanical Engineering Department, University of Udayana, Campus Bukit, Jimbaran, Badung, Bali, 80362, Indonesia
Email: [email protected], [email protected]

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.

© 2020 Int. J. Mech. Eng. Rob. Res 1509


doi: 10.18178/ijmerr.9.11.1509-1514
International Journal of Mechanical Engineering and Robotics Research Vol. 9, No. 11, November 2020

method of control is to adjust the line tracking robot arm


with high speed line tracking.
The use of PID control in the simulation of robot arm
is able to accelerate the arm movement response. The fast
responses makes the drive error signal (the reference
motion - actuator motion) emerging so small that steady
state will be obtained quickly too. The design of the PID
control system with the help of MATLAB software
makes it very easy to get the results as desired [8,9]. If
the arm motion control in the simulation is successful,
then the control will be used to control the actual arm
movement. The goal of research design is to get
minimum error signal less than 2%, maximum overshoot
is less than 2.5% and peak quickly the stability response.

II. RESEARCH METHODS

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.

Figure 2. Flow chart of the research.

The 3D design of the mobile robot manipulator


assembly is made in the inventor software. After the
image is complete then the file is exported to MATLAB /
Simmechanic. The file will change from a physical model
to xml file. Next, at each joint actuator into the block
diagram model of the robot is added with PID control
system. This control system will control the output signal
in the form of an angle. The process of changing from a
coordinate position to a join angle is called inverse
Figure 1. Design of Mobil Robot Arm Gripper.
kinematics. The next step is to simulate the PID control
system model so that it can know the indicator parameters
Mobile Robot Arm is composed of a cart equipped of the output signal. If the error signal and the maximum
with 4 wheels each wheel driven by a servo motor overshoot of the response are less than 5%, then this
respectively. Robot arm mounted on the base of the response meets the requirements of the control system.
mobile robot where the arm is composed of the base arm And if not, then the control modeling system needs to be
which is driven by a rotating servo motor that is fully improved again. The next step is to generate the code into
rotated and above the base arm in pair servo motors that the microcontroller system.
can move rotation with a maximum rotation of 180 o. The C. Diagram Block Simulink of Robot Manipulator
base of the second arm is moved by servo motor which
Mobile robot gripper is a common, high multivariable
moves rotation with a maximum rotation of 180 o. And at
type order, and nonlinear system. The process of
the end of the arm is also driven by a servo motor that
formulating the mathematics model is a difficult.
moves a maximum of 180o. Gripper with the movement
Furthermore, at least the application of model-based
of prismatic mounted on the end of the arm that is used to
control design strategies are very complex or deliver
retrieve certain objects that are driven by a servo motor.
insignificant performance improvements with respect to
B. Flow Chart of The Research straight forward design solutions based on linear control.
In generally there are some of step to run this research A new approach that does not directly model
that is shown in Fig. 2. mathematical functions becomes an attractive alternative.
The application of MATLAB/Simulink toolbox is

© 2020 Int. J. Mech. Eng. Rob. Res 1510


International Journal of Mechanical Engineering and Robotics Research Vol. 9, No. 11, November 2020

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.

Figure 4. The Visual Movement of mobile robot arm in MATLAB /


Figure 3. Diagram block simulink for mobil robot arm. Simulink.
D. Simulation Testing
Most PID controllers are customized on site that there By using SimMechanics in the MATLAB /
are many types of tuning rules that have been proposed in SIMULINK program, simulation testing of robot arms
the research. Using the automatic tuning method has been can be carried out. The mathematical model of the servo
developed in a mechanical system. The usefulness of the motor and the PID control system can be attached to each
PID control lies in their general application for most joint motor contained in the robot arm joints. The
control systems. In the field of process control systems, it installation of PID Control and mathematical models of
is well known that the basic PID control and modification the motor servo on each arm can be seen in the following
schemes have proven their usefulness in providing Fig. 5.
satisfactory control. Adaptive PID control was used to
control the torque of a permanent magnet synchronous

Figure 5. The block diagram of PID control.

© 2020 Int. J. Mech. Eng. Rob. Res 1511


International Journal of Mechanical Engineering and Robotics Research Vol. 9, No. 11, November 2020

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

Figure 7. The bock diagram Mobil Robot Arm Gripper in MATLAB/Simulink.

© 2020 Int. J. Mech. Eng. Rob. Res 1512


International Journal of Mechanical Engineering and Robotics Research Vol. 9, No. 11, November 2020

This motion of robot car is navigated by using an


application of android in mobile phone. The use of
Bluetooth signal is used to manage the movement of
mobile robot arm gripper from long distance without
using cable. This application is made in mobile phones
based on Android. By selecting a button that the user is
already installed in the hand phone so that this robot car
can move in accordance with our request. The navigation
of the mobile robot is installed in the application of
Bluetooth mobile hand phone. The user can move up,
down, right and left from each of DC motor in which
installed in each of joint of robot.

III. RESULTS AND DISCUSSION


A basis of comparison of performance of various
control systems has been in analyzing and designing
control systems. This basis can be formed by specifying a Figure 9. Rpm Error Signal in Tire of DC Motor.
particular test input signal and by comparing the various
system responses to this input signal. The desired
performance characteristics of control systems are
specified in terms of domain quantities. Often, the
performance characteristics of the control system are
determined in terms of the transient response to the step
unit input. The signal builder is used to arrange the input
signal of the systems. The comparison of the actual
response for the left and right motor angle servo motors
can be seen in Fig. 8.

Figure 10. Motions of each dc motor in robot arm.

The error signal of position is shown in Fig. 11. The


robot arm has achieved a good performance with smaller
error signal, minimum overshoot and quickly to find the
stability response.

Figure 8. Actual response rpm in tire of DC motor.

The Fig. 9 shows the rpm of error signal in tire of DC


motor. PID control is used to adjust the magnitude of
amplifier parameters so that the desired response signal
matches the design model desired by a designer. In the
design of this control system has used proportional
integral and derivative control by adjusting the amplifier
value until the signal error signal is smaller than 2% and
with a little overshoot and the response stability is
achieved within a short time of 5s. The rotation dc motor
per minutes between left and right tire is close similar. Figure 11. Error signal of angular position for robot arm.
The Fig. 10 shows the control of motions of each dc
motor in the arm. The desired response for rotation of dc In prototype testing, there are still subtle potentiometer
motor move as similar with angular position input movements. When references are given a fixed value for
references. a long time, small oscillations will occur in prototype
testing. In the simulation test there is no linear oscillation.
The effect of the External mode used in the prototype test

© 2020 Int. J. Mech. Eng. Rob. Res 1513


International Journal of Mechanical Engineering and Robotics Research Vol. 9, No. 11, November 2020

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,
[1] Gurunath, D.R. And James, T.G. Trajectory Optimization of a Engineering Faculty , university of Udayana,
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.

© 2020 Int. J. Mech. Eng. Rob. Res 1514

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