AUTMan

Design, development and control of multi-DoF manipulators for use in robotics and automation demands

Farshad Bolourchifard, Soroush Sadeghnejad, Sepehr Ramezani, Mohesn Bahrami, Jacky Hansjorg Baltes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this investigation, we aim to design and develop a robotic arm (manipulator) to be used in general Robotics and Automation demands. The main purpose of the AUTMan (Amirkabir University of Technology Manipulator) is for educational at technical levels. It is needed to design a high performance manipulator to have maximum ability of access and most efficient structure while displacing the objects. For this reason, first the operate the mechanical design aptly duo to the multi-tasking usage of the manipulator, then electronic design is done for having connection with computer and send or receiving data, finally we design a scenario in which AUTMan will follow the desired drawn path in the computer. In fact, the user gives a desired 2 dimensional profile and after processing, the manipulator start to draw the lines. The inputs are processed using MATLAB by solving the inverse kinematic equations of the manipulator for knowing each arm's position duo to a desired position of end effector. It is highly tried to improve the manipulator's response by designing controller and tuning the other effective parameter. In this study by use and experimentally tuning PID controller, which is the most common industrial controller for electrical motors, and also by tuning the other parameters; filtration domain of the noise and the actuation range of the motors we try to reach the most acceptable response. Eventually, by comparing the input and output of the manipulator, we intend to report the maximum error of AUTMan path drawing to show the performance accuracy of the manipulator. The overall system design shows that the system can operate with less error and can conveniently follow the desired paths.

Original languageEnglish
Title of host publication4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages105-110
Number of pages6
ISBN (Electronic)9781509032228
DOIs
Publication statusPublished - 2017 Mar 24
Event4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 - Tehran, Iran, Islamic Republic of
Duration: 2016 Oct 262016 Oct 28

Other

Other4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
CountryIran, Islamic Republic of
CityTehran
Period16/10/2616/10/28

Fingerprint

Manipulator
Automation
Manipulators
Robotics
Tuning
Path
Controllers
Design
Controller
Multitasking
Robotic Manipulator
Inverse Kinematics
Mechanical Design
Robotic arms
PID Controller
Inverse kinematics
End effectors
Filtration
System Design
MATLAB

Keywords

  • Controller
  • Kinematic and Inverse Kinematic
  • Manipulator
  • MATLAB
  • PID
  • Tradeoff

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization

Cite this

Bolourchifard, F., Sadeghnejad, S., Ramezani, S., Bahrami, M., & Baltes, J. H. (2017). AUTMan: Design, development and control of multi-DoF manipulators for use in robotics and automation demands. In 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 (pp. 105-110). [7886825] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2016.7886825

AUTMan : Design, development and control of multi-DoF manipulators for use in robotics and automation demands. / Bolourchifard, Farshad; Sadeghnejad, Soroush; Ramezani, Sepehr; Bahrami, Mohesn; Baltes, Jacky Hansjorg.

4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 105-110 7886825.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bolourchifard, F, Sadeghnejad, S, Ramezani, S, Bahrami, M & Baltes, JH 2017, AUTMan: Design, development and control of multi-DoF manipulators for use in robotics and automation demands. in 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016., 7886825, Institute of Electrical and Electronics Engineers Inc., pp. 105-110, 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, Tehran, Iran, Islamic Republic of, 16/10/26. https://doi.org/10.1109/ICRoM.2016.7886825
Bolourchifard F, Sadeghnejad S, Ramezani S, Bahrami M, Baltes JH. AUTMan: Design, development and control of multi-DoF manipulators for use in robotics and automation demands. In 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 105-110. 7886825 https://doi.org/10.1109/ICRoM.2016.7886825
Bolourchifard, Farshad ; Sadeghnejad, Soroush ; Ramezani, Sepehr ; Bahrami, Mohesn ; Baltes, Jacky Hansjorg. / AUTMan : Design, development and control of multi-DoF manipulators for use in robotics and automation demands. 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 105-110
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