Synthesis of the control unit of the desktop robot arm actuated by stepper motors
Апстракт
Small‐size (desktop) robot arms are being increasingly used in research and education, where low cost implementation prevails over the need for high dynamic performance. This paper presents a
design of a control unit for a 6DoF desktop robot arm with cylindrical joints actuated with stepper
motors. Feedforward control, often chosen as a control strategy for stepper motors due to the
simplicity of control algorithms, as well as the cost‐effectiveness of the solution, is selected as the
control method. The applicative software with GUI developed in Matlab is presented. A trajectory
planner based on the solution of the inverse kinematics problem and the user‐selected joint velocity profile is implemented. In order to avoid step skipping occurrence, the torque in joints necessary to produce the programmed joints motion have to be achievable by the installed stepper motors. As a part of applicative software, the check on the feasibility of the programmed robot trajectories by numeric...al simulation of solution of inverse dynamics problem in Simscape Multibody is performed. The microcontroller is used as an interface device that controls the stepper motor drivers. The applicative software communicates with the microcontroller using the TCP protocol.
Кључне речи:
Robot arm / control / stepper motorsИзвор:
16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June, 2023, 361-365Издавач:
- Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200066 (Лола институт, Београд) (RS-MESTD-inst-2020-200066)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Dević, Andrija AU - Vidaković, Jelena AU - Živković, Nikola AU - Lazarević, Mihailo PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6972 AB - Small‐size (desktop) robot arms are being increasingly used in research and education, where low cost implementation prevails over the need for high dynamic performance. This paper presents a design of a control unit for a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Feedforward control, often chosen as a control strategy for stepper motors due to the simplicity of control algorithms, as well as the cost‐effectiveness of the solution, is selected as the control method. The applicative software with GUI developed in Matlab is presented. A trajectory planner based on the solution of the inverse kinematics problem and the user‐selected joint velocity profile is implemented. In order to avoid step skipping occurrence, the torque in joints necessary to produce the programmed joints motion have to be achievable by the installed stepper motors. As a part of applicative software, the check on the feasibility of the programmed robot trajectories by numerical simulation of solution of inverse dynamics problem in Simscape Multibody is performed. The microcontroller is used as an interface device that controls the stepper motor drivers. The applicative software communicates with the microcontroller using the TCP protocol. PB - Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH C3 - 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June T1 - Synthesis of the control unit of the desktop robot arm actuated by stepper motors EP - 365 SP - 361 UR - https://hdl.handle.net/21.15107/rcub_machinery_6972 ER -
@conference{ author = "Dević, Andrija and Vidaković, Jelena and Živković, Nikola and Lazarević, Mihailo", year = "2023", abstract = "Small‐size (desktop) robot arms are being increasingly used in research and education, where low cost implementation prevails over the need for high dynamic performance. This paper presents a design of a control unit for a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Feedforward control, often chosen as a control strategy for stepper motors due to the simplicity of control algorithms, as well as the cost‐effectiveness of the solution, is selected as the control method. The applicative software with GUI developed in Matlab is presented. A trajectory planner based on the solution of the inverse kinematics problem and the user‐selected joint velocity profile is implemented. In order to avoid step skipping occurrence, the torque in joints necessary to produce the programmed joints motion have to be achievable by the installed stepper motors. As a part of applicative software, the check on the feasibility of the programmed robot trajectories by numerical simulation of solution of inverse dynamics problem in Simscape Multibody is performed. The microcontroller is used as an interface device that controls the stepper motor drivers. The applicative software communicates with the microcontroller using the TCP protocol.", publisher = "Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH", journal = "16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June", title = "Synthesis of the control unit of the desktop robot arm actuated by stepper motors", pages = "365-361", url = "https://hdl.handle.net/21.15107/rcub_machinery_6972" }
Dević, A., Vidaković, J., Živković, N.,& Lazarević, M.. (2023). Synthesis of the control unit of the desktop robot arm actuated by stepper motors. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH., 361-365. https://hdl.handle.net/21.15107/rcub_machinery_6972
Dević A, Vidaković J, Živković N, Lazarević M. Synthesis of the control unit of the desktop robot arm actuated by stepper motors. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June. 2023;:361-365. https://hdl.handle.net/21.15107/rcub_machinery_6972 .
Dević, Andrija, Vidaković, Jelena, Živković, Nikola, Lazarević, Mihailo, "Synthesis of the control unit of the desktop robot arm actuated by stepper motors" in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June (2023):361-365, https://hdl.handle.net/21.15107/rcub_machinery_6972 .