Ripple reduction at speed and torque of step motors used on a two-axis robot arm

Authors:
Sabir Rustemli;Murat Yilmaz;Metin Demirtas
Affiliations:
Electrical and Electronics Engineering Department, Yuzuncu Yil University, Van, Turkey;Electrical and Electronics Engineering Department, Yuzuncu Yil University, Van, Turkey;Electrical and Electronics Engineering Department, Balikesir University, Balikesir, Turkey
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2010

Citing 2
Cited 0

Optimal tuning of PI coefficients by using fuzzy-genetic for V/f controlled induction motor

Expert Systems with Applications: An International Journal
The Design of Microcomputer Control System for Step Motor

ISCID '09 Proceedings of the 2009 Second International Symposium on Computational Intelligence and Design - Volume 01

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents the control of two axis robot arm. The system is consisted of two step motors, robot arm, computer and PIC16F84A. One of them controls the robot arm via parallel port of the computer. The other one controls end element on the arm by PIC16F84A. PIC16F84A drives the motor by the designed circuit drive. Although the control of the step motor is very easy, they work choppily. Therefore, it is necessary to reduce the ripples occurred at the speed and torque of the step motor. In this study, proportional-integral-derivative (PID) controller is used to reduce the ripples. The obtained results show the proposed method is very successful.