Modeling and control High speed Robotic Arm for Industrial Applications

摘要

This work reports the development of a handling 5 Degree of freedom (DOF) robot arm model for industrial application. The aim is to enhance speed performance by proposed multi techniques started from estimating the transfer function of each manipulated joint, then design controller for each DOF reached to modelling arm motion. It is used SimMechanics and SolidWorks as a tool for structural design and testing motion characteristics. To improve speed performance, it is proposed a high speed proportional integral derivative controller based on an improved Genetic Algorithm by modifying the initialization fitness function to optimize proportional gains. A comparison results between the controlled and uncontrolled systems shows that the proposed controller resulted greatly minimized response time to be measured in the Microsecond unit. Based on trajectory planning, the efficiency of the proposed method is confirmed by motion case studies. The innovative design offering the best solution to increase productivity and accurate performance to perform various tasks such as pick and place and assembly.