CONTROL OF ROBOTIC ARM MANIPULATOR JOINT

Abstract

In this paper, we have reviewed all the previous work done on the problem of controlling a robotic arm manipulator joint. Various techniques are being used for controlling the manipulator and the work is being done since the early 1980s. A robotic arm manipulator is a robotic device with attached AC or DC motors to joints for position change and speed output, while algorithms, feedback systems, etc. control those inputs. Common control systems such as PID and PI have been used for fine-tuning to approach the stability in the system. Further, we tend to find the best possible technique for stabilizing the control system of the robotic arm joint. The purpose of this work is to find the best approach in designing a robotic manipulator that is both efficient in work and reaches the point of stability in least time possible. Robotic arm is used for different tasks that aren’t either possible by human hand or can be injurious to workers. So, taking all precautions into account, we must design a robotic manipulator that can fulfil the purpose justly. In order to design such a machine, or its algorithm, we must analyze all the factors that effect its efficiency, moreover all the techniques and mathematical models are to be studied and ensured that they have been applied and have experienced people work on it. Keywords: robotic arm, PID control, Joint manipulator.