Modeling and Simulation of Robotic Arm in MATLAB for Industrial Applications

2019 ◽  
Author(s):  
Juan Liu ◽  
Qiang Luo
Keyword(s):  
Modeling And Simulation ◽  
Industrial Applications ◽  
Robotic Arm

Nonlinear Bifurcation Analysis of a Single-DoF Model of a Robotic Arm Subject to Digital Position Control

2012 ◽  
Vol 8 (1) ◽  
Author(s):  
Giuseppe Habib ◽  
Giuseppe Rega ◽  
Gabor Stepan
Keyword(s):  
Center Manifold ◽  
Position Control ◽  
High Accuracy ◽  
Industrial Applications ◽  
Critical Parameters ◽  
Robotic Arm ◽  
Control Force ◽  
Local Center ◽  
The Stability ◽  
Stability Limits

Precision and stability in position control of robots are critical parameters in many industrial applications where high accuracy is needed. It is well known that digital effect is destabilizing and can cause instabilities. In this paper, we analyze a single DoF model of a robotic arm and we present the stability limits in the parameter space of the control gains. Furthermore we introduce a nonlinearity relative to the saturation of the control force in the model, reduce the dynamics of the nonlinear map to its local center manifold, study the bifurcation along the stability border and identify conditions under which a supercritical or subcritical bifurcation occurs. The obtained results explain some of the typical instabilities occurring in industrial applications. We verify the obtained results through numerical simulations.

Vision Based Pick and Place Robot for Sorting Objects Using MATLAB

2014 ◽  
Vol 592-594 ◽  
pp. 2314-2318
Author(s):  
Parag J. Tarwadi ◽  
Arockia Selvakumar Arockia Doss
Keyword(s):  
Material Handling ◽  
Vision System ◽  
Industrial Applications ◽  
Research Field ◽  
Robotic Arm ◽  
Material Handling System ◽  
Single Object ◽  
Pick And Place ◽  
Automated Material Handling ◽  
Different Color

In recent years, vision system in robotics have a major impact on research field and industry. Many industrial applications have a huge requirement of sorting out the things as per different color or label. This paper deals with an automated material handling system, which synchronizes the movement of robotic arm to pick a single object from the maximum numbers. This paper aims to sort out different kind of objects by their color occupied pin code and place them to its respective pre-programmed place.

Nonlinear Bifurcation Analysis of a Robotic Arm Subject to Digital Position Control

2011 ◽  
Author(s):  
Giuseppe Habib ◽  
Giuseppe Rega ◽  
Gabor Stepan
Keyword(s):  
Center Manifold ◽  
Position Control ◽  
High Accuracy ◽  
Industrial Applications ◽  
Critical Parameters ◽  
Robotic Arm ◽  
Control Force ◽  
Local Center ◽  
The Stability ◽  
Stability Limits

Precision and stability in position control of robots are critical parameters in many industrial applications where high accuracy is needed. It is well known that digital effect is destabilizing and can cause instabilities. In this paper, we analyze a single DoF system and we present the stability limits in the parameter space of the control gains. Furthermore we introduce a nonlinearity relative to the saturation of the control force in the model, reduce the dynamics of the nonlinear map to its local center manifold, study the bifurcation along the stability border and identify conditions under which a supercritical or subcritical bifurcation occurs. The obtained results explain some of the typical instabilities occurring in industrial applications. We verify the obtained results through numerical simulations.

Design and Implementation of an Articulated Robotic Arm for Precise Positioning

2011 ◽  
Vol 201-203 ◽  
pp. 1972-1977
Author(s):  
Enaiyat Ghani Ovy ◽  
Shah Muhammad Ferdous ◽  
Mohammad Rokonuzzaman ◽  
Nurul Absar Chowdhury
Keyword(s):  
Spot Welding ◽  
Degrees Of Freedom ◽  
Material Handling ◽  
Mechanical Design ◽  
Industrial Applications ◽  
Robotic Arm ◽  
Analytic Description ◽  
Precise Positioning ◽  
Design And Implementation ◽  
Three Degrees Of Freedom

This project is intended to design an articulated robotic arm which could locate a point in space with its given coordinates at three degrees of freedom. The basic three rotary movements are base rotation, first and second arm swivel. With different payload capability and design, the robot can be employed in various industrial applications including spot welding, assembling, cutting, material handling and many more. The mechanical structure is designed and a physical setup is developed for which a microcontroller based control circuit is designed for the purpose of control. This paper is focused mainly on the mechanical design of the structure. An elaborate analytic description of the components and tools is presented with necessary specifications. This structure is very flexible and has the ability to reach over obstructions. It can achieve different positions and orientations with in the working envelop.

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