Design of a brushed DC motors PID controller for development of low-cost robotic applications

This article present the design and construction of a PID controller for direct current motors motion control in low-cost robotic applications. The reasons which led us to the make the proposal and design of the system were, on the one hand, the need for robotic developments by students in Colombian...

Full description

Autores:
Tipo de recurso:
Fecha de publicación:
2014
Institución:
Universidad Tecnológica de Bolívar
Repositorio:
Repositorio Institucional UTB
Idioma:
eng
OAI Identifier:
oai:repositorio.utb.edu.co:20.500.12585/9047
Acceso en línea:
https://hdl.handle.net/20.500.12585/9047
Palabra clave:
Algorithms
Controllers
DC motors
Electric control equipment
Electric machine control
Inverse kinematics
Proportional control systems
Three term control systems
Academic environment
Brushed DC motors
Design and construction
Direct current motors
Dynamic controls
Laboratory practices
PID controllers
Robotic applications
Robotics
Rights
restrictedAccess
License
http://creativecommons.org/licenses/by-nc-nd/4.0/
id UTB2_5779778c14dfee85dbb72f63877a483b
oai_identifier_str oai:repositorio.utb.edu.co:20.500.12585/9047
network_acronym_str UTB2
network_name_str Repositorio Institucional UTB
repository_id_str
dc.title.none.fl_str_mv Design of a brushed DC motors PID controller for development of low-cost robotic applications
title Design of a brushed DC motors PID controller for development of low-cost robotic applications
spellingShingle Design of a brushed DC motors PID controller for development of low-cost robotic applications
Algorithms
Controllers
DC motors
Electric control equipment
Electric machine control
Inverse kinematics
Proportional control systems
Three term control systems
Academic environment
Brushed DC motors
Design and construction
Direct current motors
Dynamic controls
Laboratory practices
PID controllers
Robotic applications
Robotics
title_short Design of a brushed DC motors PID controller for development of low-cost robotic applications
title_full Design of a brushed DC motors PID controller for development of low-cost robotic applications
title_fullStr Design of a brushed DC motors PID controller for development of low-cost robotic applications
title_full_unstemmed Design of a brushed DC motors PID controller for development of low-cost robotic applications
title_sort Design of a brushed DC motors PID controller for development of low-cost robotic applications
dc.contributor.editor.none.fl_str_mv Marrugo A.G.
dc.subject.keywords.none.fl_str_mv Algorithms
Controllers
DC motors
Electric control equipment
Electric machine control
Inverse kinematics
Proportional control systems
Three term control systems
Academic environment
Brushed DC motors
Design and construction
Direct current motors
Dynamic controls
Laboratory practices
PID controllers
Robotic applications
Robotics
topic Algorithms
Controllers
DC motors
Electric control equipment
Electric machine control
Inverse kinematics
Proportional control systems
Three term control systems
Academic environment
Brushed DC motors
Design and construction
Direct current motors
Dynamic controls
Laboratory practices
PID controllers
Robotic applications
Robotics
description This article present the design and construction of a PID controller for direct current motors motion control in low-cost robotic applications. The reasons which led us to the make the proposal and design of the system were, on the one hand, the need for robotic developments by students in Colombians academic environments with the resources available locally, and on the other hand, the need for a teaching of the robotics based on laboratory practices of the most commonly used control algorisms in this area, such as: the inverse kinematics based PID control and the dynamic control by calculated torque. © 2014 IEEE.
publishDate 2014
dc.date.issued.none.fl_str_mv 2014
dc.date.accessioned.none.fl_str_mv 2020-03-26T16:32:50Z
dc.date.available.none.fl_str_mv 2020-03-26T16:32:50Z
dc.type.coarversion.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_c94f
dc.type.driver.none.fl_str_mv info:eu-repo/semantics/conferenceObject
dc.type.hasversion.none.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.spa.none.fl_str_mv Conferencia
status_str publishedVersion
dc.identifier.citation.none.fl_str_mv 2014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014 - Conference Proceedings
dc.identifier.isbn.none.fl_str_mv 9781479979325
dc.identifier.uri.none.fl_str_mv https://hdl.handle.net/20.500.12585/9047
dc.identifier.doi.none.fl_str_mv 10.1109/CIIMA.2014.6983471
dc.identifier.instname.none.fl_str_mv Universidad Tecnológica de Bolívar
dc.identifier.reponame.none.fl_str_mv Repositorio UTB
dc.identifier.orcid.none.fl_str_mv 22837432800
55498635300
56682671200
identifier_str_mv 2014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014 - Conference Proceedings
9781479979325
10.1109/CIIMA.2014.6983471
Universidad Tecnológica de Bolívar
Repositorio UTB
22837432800
55498635300
56682671200
url https://hdl.handle.net/20.500.12585/9047
dc.language.iso.none.fl_str_mv eng
language eng
dc.relation.conferencedate.none.fl_str_mv 22 October 2014 through 24 October 2014
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_16ec
dc.rights.uri.none.fl_str_mv http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.accessrights.none.fl_str_mv info:eu-repo/semantics/restrictedAccess
dc.rights.cc.none.fl_str_mv Atribución-NoComercial 4.0 Internacional
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-nd/4.0/
Atribución-NoComercial 4.0 Internacional
http://purl.org/coar/access_right/c_16ec
eu_rights_str_mv restrictedAccess
dc.format.medium.none.fl_str_mv Recurso electrónico
dc.format.mimetype.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers Inc.
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers Inc.
dc.source.none.fl_str_mv https://www.scopus.com/inward/record.uri?eid=2-s2.0-84930988956&doi=10.1109%2fCIIMA.2014.6983471&partnerID=40&md5=50df3617e53d642ba17a5dbe59cbced5
Scopus2-s2.0-84930988956
institution Universidad Tecnológica de Bolívar
dc.source.event.none.fl_str_mv 2014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014
bitstream.url.fl_str_mv https://repositorio.utb.edu.co/bitstream/20.500.12585/9047/1/MiniProdInv.png
bitstream.checksum.fl_str_mv 0cb0f101a8d16897fb46fc914d3d7043
bitstream.checksumAlgorithm.fl_str_mv MD5
repository.name.fl_str_mv Repositorio Institucional UTB
repository.mail.fl_str_mv repositorioutb@utb.edu.co
_version_ 1814021553329799168
spelling Marrugo A.G.Yime E.Villa Ramírez, José LuisPaez J.2020-03-26T16:32:50Z2020-03-26T16:32:50Z20142014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014 - Conference Proceedings9781479979325https://hdl.handle.net/20.500.12585/904710.1109/CIIMA.2014.6983471Universidad Tecnológica de BolívarRepositorio UTB228374328005549863530056682671200This article present the design and construction of a PID controller for direct current motors motion control in low-cost robotic applications. The reasons which led us to the make the proposal and design of the system were, on the one hand, the need for robotic developments by students in Colombians academic environments with the resources available locally, and on the other hand, the need for a teaching of the robotics based on laboratory practices of the most commonly used control algorisms in this area, such as: the inverse kinematics based PID control and the dynamic control by calculated torque. © 2014 IEEE.Universidad Tecnologica de BolivarRecurso electrónicoapplication/pdfengInstitute of Electrical and Electronics Engineers Inc.http://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/restrictedAccessAtribución-NoComercial 4.0 Internacionalhttp://purl.org/coar/access_right/c_16echttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84930988956&doi=10.1109%2fCIIMA.2014.6983471&partnerID=40&md5=50df3617e53d642ba17a5dbe59cbced5Scopus2-s2.0-849309889562014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014Design of a brushed DC motors PID controller for development of low-cost robotic applicationsinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionConferenciahttp://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/resource_type/c_c94fAlgorithmsControllersDC motorsElectric control equipmentElectric machine controlInverse kinematicsProportional control systemsThree term control systemsAcademic environmentBrushed DC motorsDesign and constructionDirect current motorsDynamic controlsLaboratory practicesPID controllersRobotic applicationsRobotics22 October 2014 through 24 October 2014Jaza, R.N., (2010) Theory of Applied Robotics: Kinematics, Dynamics and Control, , 2nd ed. SpringerCork, P., (2013) Robotics, Vision and Control: Fundamental Algorithms in MATLAB, , 2nd ed. SpringerSiciliano, L.V.B., Sciavicco, L., Oriolo, G., (2013) Modelling, Planning and Control, , SpringerSpong, S.H.M., Vidyasagar, M., (2005) Robot Modelling and Control, , WileyStone, H.W., (1987) Kinematics, Modelling, Identification, and Control of Robotics Manipulators, , SpringerCraig, J.J., (2004) Introduction to Robotics: Mechanics and Control, , Pretince HallWang, X.Z.J., Li, Y., Inverse kinematics and control of a 7-dof redundant manipulator based on the closedloop algorithm (2010) Int. J. Adv. Rob. Sys, 7 (4), pp. 1-9Caccavale, S.C.F., Siciliano, B., Second-order kinematic control of robot manipulators with jacobian damped least-squares inverse: Theory and experiments (1997) IEEE/ASME Trans. Mechatron, 2 (3), pp. 188-194Becerra, W.S.H.V.M., Cage, C.N., Sharkey, P.M., Hardware retrofit and computed torque control of a puma 560 robot updating an industrial manipulator (2004) Control Syst., IEEE, 24 (5), pp. 78-82Llama, R.K.M.A., Santibaez, V., Stable computedtorque control of robot manipulators via fuzzy selftunning (2000) Syst., Man, Cybern., Part B: Cybern., IEEE Trans, 30 (1), pp. 143-150Aracil, L.F.P.R., Balaguer, C., Barrientos, A., (2007) Fundamentos de Robtica, , 2nd edDe Caldas, U.D.F.J., Manipulador Robtico Mitsubishi Movemaster rv-m1, , http://www.udistrital.edu.co:8080/en/web/laboratoriomecanica/mitsubishi-manipulador-roboticomovemaster-ex-modelo-rvm1Tropea, D.M.C.Y.S.E., Controlador tipo pid, sobre microcontrolador embebido en fpga (2010) Congreso de Microelectrnica Aplicada, Buenos AiresDouble Pwm Controlled H-bridge for Interfacing with An Arduino, , http://www.lamja.com/?p=96http://purl.org/coar/resource_type/c_c94fTHUMBNAILMiniProdInv.pngMiniProdInv.pngimage/png23941https://repositorio.utb.edu.co/bitstream/20.500.12585/9047/1/MiniProdInv.png0cb0f101a8d16897fb46fc914d3d7043MD5120.500.12585/9047oai:repositorio.utb.edu.co:20.500.12585/90472023-04-21 15:42:37.817Repositorio Institucional UTBrepositorioutb@utb.edu.co

Publicaciones similares