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IJSTR >> Volume 5 - Issue 6, June 2016 Edition



International Journal of Scientific & Technology Research  
International Journal of Scientific & Technology Research

Website: http://www.ijstr.org

ISSN 2277-8616



Position Control Method For Pick And Place Robot Arm For Object Sorting System

[Full Text]

 

AUTHOR(S)

Khin Moe Myint, Zaw Min Min Htun, Hla Myo Tun

 

KEYWORDS

kinematic analysis, Microcontroller, servo motors, Robot arm, sorting system.

 

ABSTRACT

The more increase the number of industries in developing countries, the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries, the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints, three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method, the input parameters are the joint angles and link length of robot arm and then the output is the position at X,Y,Z coordinate of tool or gripper. In inverse kinematic, the input parameters are position at X,Y,Z coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So, kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame, without consideration of the forces or the moments causing the movements. For sorting system, Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

 

REFERENCES

[1] Jolly Shah, S.S.Rattan, B.C.Nakra,”End-Effector Position Analysis Using Forward Kinematics for 5DOF Pravak Robot Arm”, International Journal of Robotics and Automation (IJRA),Vol. 2, No. 3, September 2013.

[2] Sanjay L., Shweta P., ―Position Control of Pick and Place Robotic Arm‖, International Conference on Engineering Innovation and Technology, Nagpur, 1st July, 2012.

[3] Binbin L., Yimin S., Gang D., Tao S., Yang Q., ―Dimensional Synthesis of a Planar Parallel Manipulator for Pick-and-Place Operations Based on Rigid-Body Dynamics‖, Intelligent Robotics and Applications/Lecture Notes in Computer Science, Springer, Vol. 7506, pp. 261-270, 2012.

[4] Altuzarraa O., Şandru B., Pinto Ch., and Petuya V., ―A Symmetric Parallel Schönflies-Motion Manipulator for Pick-and-Place Operations‖, Robotica, Vol. 29, Issue 06, October 2011, pp. 853-862.

[5] Bin L., Yunjiang L., and Zexiang L., ―Kinematics and Optimal Design of a Novel 3-DoF Parallel Manipulator for Pick-and-Place Applications’’, International Journal of Mechatronics and Automation, Vol.3, No.3, pp. 181 – 190, 2013.

[6] Ayokunle A.Awelewa, Samuel O. Majekodunmi, Isaac A. Samuel, ”Development of a Prototype Robot Manipulator for Industrial Pick-and-Place Operations”, October 2013 IJENS

[7] Mohammad D. Abdul Hakeem, “Design and Comparative Assessment of State Feedback Controllers for Position Control of 8692 DC Servomotor”, Published by August 2015 in MECS.

[8] Jolly Shah, End-Effector Position Analysis Using Forward Kinematics for 5DOF Pravak Robot Arm “International Journal of Robotics and Automation (IJRA)’’,Vol. 2, No. 3, September 2013.