eISSN:2278-5299

International Journal of Latest Research in Science and Technology

DOI:10.29111/ijlrst   ISRA Impact Factor:3.35,  Peer-reviewed, Open-access Journal

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MODELLING, SIMULATION AND CONTROL OF ADAM ROBOT ARM ACTUATED BY EC 40 BRUSHLESS DC MOTORS

Research Paper Open Access

International Journal of Latest Research in Science and Technology Vol.4 Issue 4, pp 50-55,Year 2015

MODELLING, SIMULATION AND CONTROL OF ADAM ROBOT ARM ACTUATED BY EC 40 BRUSHLESS DC MOTORS

Jebli Tarek, Zaoui Chiheb, Aref Maalej

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Received : 20 August 2015; Accepted : 25 August 2015 ; Published : 31 August 2015

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Article No. 10541
Abstract

This paper presents simulation and control of a robotic arm actuated by three BLDC motors wich are controlled by three IPOS 48080 BX-CAN drives. The modeling problem is necessary before applying control techniques to guarantee the execution of any task according to a desired input with minimum error. The simulations of the dynamic behaviour of the robot ADAM arm are presented using SimMechanic software. The motion is programmed using the Technosoft Motion Language (TML); a high-level set of codes allowing to parameterize and execute specific motion operation. The integrated development environment for the configuration of the drives EasySetUp and C++ language are used to setup and send commands from the PC. This paper shows also the way to implement a network between the drives to synchronize the communication between then and the PC.

Key Words   
Robot arm; Control; Brushless; Drives; TML
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References
  1. Faravar “Design implementation and Control of Robotic Arm Using PIC 16F877A Microcontrollerl,” Eastern Mediterranean University 2014
  2. IPOS 4808 BX CAN Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors, Technical reference, Technosoft 2013.
  3. Zaoui, O.Bruneau, Fb. Ouezdou, A. Maalej, "Simulation of the dynamic behavior of a bipedal robot with trunk and arms subjected to 3D external disturbances in a vertical posture, during walking and during object handling” Journal of Multibody-Dynamics, 2009
  4. MATH WORK, 2001” Introduction to MATLAB, the Mathworks.
  5. Wyeth, J. Lilliwhite, “Distributed digital control of a robot arm”, Gordon Wyeth Retrieved on: 18 July 2015.
  6. Yedamale, “Brushless DC (BLDC) Motor Fundamentals”, Microchip Technology Inc 2003.
  7. Lopes, F. Ribeiro, B. Matos, “ Controller  and actuator of three independent DC motors in closed loop,” Universidade do Minho, Departamento de Electronic Industrial, Guimarães, Portugal
  8. Wyeth, D. Kee, M. Wagstaff, N. Brewer, J. Stirzaker, T. Cartwright, B. Bebel. “Design of an Autonomous Humanoid Robot,” School of Computer Science and Electrical Engineering University of Queensland
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To cite this article

Jebli Tarek, Zaoui Chiheb, Aref Maalej , " Modelling, Simulation And Control Of Adam Robot Arm Actuated By Ec 40 Brushless Dc Motors ", International Journal of Latest Research in Science and Technology . Vol. 4, Issue 4, pp 50-55 , 2015


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