Authors : Aswadh Khumar G S; Barath Kumar JK; Dr. Anbarasi M P

Volume/Issue : Volume 8 - 2023, Issue 4 - April

Google Scholar : https://bit.ly/3TmGbDi

Scribd : https://tinyurl.com/yc3ck2dr

DOI : https://doi.org/10.5281/zenodo.8281013

Abstract : The purpose of this paper is to study the performance of the 3R manipulator arm using the PI controller. The robotic arm is intended with 3 joints, 2 links, and 3 DC motors. PI controller is employed to get the specified position of the robotic joints. In this analysis, the link length of the robotic arm is calculated to modifycarrying the will object weight. The position of the robotic arms end effector is calculated with a kinematic modeling technique that embraces forward and inverses kinematic. The robotic toolbox is employed to find the position of the robotic arm through forward and inverse kinematics. The PI control technique is employed for the correct position of the tip effector, during this analysis, the gain of the PI controller is tuned by the Autotuning technique. In this analysis, the output position of the robotic arm is shown in MATLAB simulation. Forward and the inverse kinematic result are also shown in MATLAB graphical user interface.

Keywords : PI Controller, Kinematic Modeling, DC Motors, GUI, 3R Manipulator.