Abstract
Industrial robots are commonly used in various manufacturing processes within a cyber-physical system of industry 4.0 revolution. These tasks are involved with different loads and forces while interacting with the real environment. The effects of these forces can be studied by developing a dynamic model for the robotic manipulator. This research aims at solving the dynamic model of a 3-DOF planar articulated robot and finding the relation between the forces exerted by the robot and the joint torques in a drilling process. Finding the torque contribution of each joint to the output drilling force results in a variable joint torque control which allows the robot to perform manufacturing processes more efficiently. The design and analysis of a 3-DOF robotic manipulator with three revolute joints (RRR) configuration dedicated for micro-drilling is investigated in this research. Moreover, the closed loop control for the robot using Proportional-Integral-Derivative (PID) and Computed Torque Control (CTC) in Matlab/Simulink. The trajectory errors are evaluated for the two controllers to compare the performance.
| Original language | English |
|---|---|
| Title of host publication | 2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems, ICETSIS 2024 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 888-893 |
| Number of pages | 6 |
| ISBN (Electronic) | 9798350372229 |
| DOIs | |
| State | Published - 2024 |
| Event | 2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems, ICETSIS 2024 - Manama, Bahrain Duration: 28 Jan 2024 → 29 Jan 2024 |
Publication series
| Name | 2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems, ICETSIS 2024 |
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Conference
| Conference | 2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems, ICETSIS 2024 |
|---|---|
| Country/Territory | Bahrain |
| City | Manama |
| Period | 28/01/24 → 29/01/24 |
Bibliographical note
Publisher Copyright:© 2024 IEEE.
Keywords
- Drilling robot
- industry 4.0
- precision control
- robotic manufacturing
- torque control
ASJC Scopus subject areas
- Business and International Management
- Management Information Systems
- Organizational Behavior and Human Resource Management
- Artificial Intelligence
- Information Systems and Management
- Economics, Econometrics and Finance (miscellaneous)
- Renewable Energy, Sustainability and the Environment
