Design and Analysis of Robot PID Controller Using Digital Signal Processing Techniques

Abstract

Recently robotic is a playing vital role in the life In our modern society, the usage of robotic arms are increasing and much of the work in the industry is now performed by robots. As robots begin to behave like humans in an intelligent manner, control system becomes a major concern. In this paper, design and analyses of  the pick and place robot due to control, the forearm, wrist, desired turntable and desired bicep is introduced to construct a closed system with four degrees of freedom (4DOFs). The main performance specifications are the accuracy and stability of the input system for obtaining a good system performance. Implementation of the control system using PID parameters for stability, minimum steady state error, minimum overshoot and faster system response has been carried out. The design  of two degree of freedom PID(2DoFPID) to control robotic arm along with first order low pass filter(LPF) to compensate the unwanted signal is improved. To be able to implement such a precise and effective system, feedback system has to be made to improve the overall performance specifications. The digital signal processing controller (Arduino Uno) is used as it is active, cheap , it has open source code and easy to use in the software and hardware applications.Experimental set up developed in addition to the Matlab/Simulink implementation of the complete system. The results and the communication signals test ensure smooth operation of the control system and the effectiveness of the proposed algorithm.