IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
The paper presents a low-cost hardware in the loop based on Arduino. Sinusoidal Pulse Width Modulation (SPWM) designing, analyzing, and implementation is experimented as hardware in the loop. Sinusoidal Pulse Width Modulation implementation via MATLAB\Simulation demonstrates in this work. In this paper, Arduino Mega2560 platform, microcontroller, introduce as hardware. A comparative study of the both techniques is presented. Arduino interfaces with PC Target MATLAB environment. Three phases Voltage Source Inverter directs by the generated pulses that loads with three phases RLC. The obtaining output current and voltage waveform of RLC load of Hardware-in-the-Loop validates to the MATLAB\simulation output waveform. The compering shows the output waveforms are primarily having the same pattern. Arduino consider as the lost cost as microcontroller which could be used in real application.
Arithmetic logic units and digital signal processors widely uses adders. It is the most complicated arithmetic circuits in digital electronics. The existing adders suffer from critical path delay, area overhead and power consumption. Speculative adders are designed with variable latency that combines speculation technique along with correction methodology to attain high performance in terms of low area overhead over the existing adders. In speculative adders the sum and carry generation part is separated to reduce the area overhead. Carry Speculative Adder (CSPA) uses carry predictor circuit to reduce power consumption and to reduce the computational time and it uses error recognition and error correction circuit to find the fault occurred in the partial sum generator and to recover it to get accurate results. B. V. Pavan Kumar | M. Lalitha Bhavani | Y. Himanth"Optimized Carry Speculative Adder" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-3 , April 2018, URL: http://www.ijtsrd.com/papers/ijtsrd11216.pdf http://www.ijtsrd.com/engineering/electronics-and-communication-engineering/11216/optimized-carry-speculative-adder/b-v-pavan-kumar
This paper presents the comparative performances of Indirect Field Oriented Control (IFOC) for the three-phase induction motor. Recently, the interest of widely used the induction motor at industries because of reliability, ruggedness and almost free in maintenance. Thus, the IFOC scheme is employed to control the speed of induction motor. Therefore, P and PI controllers based on IFOC approach are analyzed at differences speed commands with no load condition. On the other hand, the PI controller is tuned based on Ziegler-Nichols method by using PSIM software which is user-friendly for simulations, design and analysis of motor drive, control loop and the power converter in power electronics studies. Subsequently, the simulated of P controller results are compared with the simulated of PI controller results at difference speed commands with no load condition. Finally, the simulated results of speed controllers are compared with the experimental results in order to explore the performances of speed responses by using IFOC scheme for three-phase induction motor drives.
ENHANCEMENT OF STATIC & DYNAMIC RESPONSE OF THE THREE PHASE INDUCTION MOTOR U...IAEME Publication
Agriculture, which used to be the mainstay of the economy of the Niger Delta region of Nigeria, was abandoned because of the discovery of oil in the 1950s. Oil exploration has, however, left a trail of sorrow as a result of environmental pollution. There is now a new awakening in the realization that oil is not a renewable resource an d, hence, effort needs to be diverted to revitalize the agricultural sector. Farmers in this region rely entirely on rain-fed cropping. Since this area is characterized by distinct dry and wet seasons, cropping activities are scewed towards the wet season, thus resulting in subsistence level of production. Supplemental irrigation has been advocated as a way forward, but the soil moisture status dictates when to irrigate, and how much irrigation water to apply. This study therefore investigated the mathematical relationship between soil moisture and groundwater level in the Niger Delta region of Nigeria. Soil moisture contents and groundwater levels from shallow wells were measured on a bi-monthly basis in 2013. The data were then subjected to regression analysis. The result showed a simple linear relationship between soil moisture and groundwater level. With this regression equation, it is now possible for farmers in this region to determine the moisture status of the soil just by measuring the level of water in their shallow wells. This is an invaluable tool in irrigation scheduling.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
The paper presents a low-cost hardware in the loop based on Arduino. Sinusoidal Pulse Width Modulation (SPWM) designing, analyzing, and implementation is experimented as hardware in the loop. Sinusoidal Pulse Width Modulation implementation via MATLAB\Simulation demonstrates in this work. In this paper, Arduino Mega2560 platform, microcontroller, introduce as hardware. A comparative study of the both techniques is presented. Arduino interfaces with PC Target MATLAB environment. Three phases Voltage Source Inverter directs by the generated pulses that loads with three phases RLC. The obtaining output current and voltage waveform of RLC load of Hardware-in-the-Loop validates to the MATLAB\simulation output waveform. The compering shows the output waveforms are primarily having the same pattern. Arduino consider as the lost cost as microcontroller which could be used in real application.
Arithmetic logic units and digital signal processors widely uses adders. It is the most complicated arithmetic circuits in digital electronics. The existing adders suffer from critical path delay, area overhead and power consumption. Speculative adders are designed with variable latency that combines speculation technique along with correction methodology to attain high performance in terms of low area overhead over the existing adders. In speculative adders the sum and carry generation part is separated to reduce the area overhead. Carry Speculative Adder (CSPA) uses carry predictor circuit to reduce power consumption and to reduce the computational time and it uses error recognition and error correction circuit to find the fault occurred in the partial sum generator and to recover it to get accurate results. B. V. Pavan Kumar | M. Lalitha Bhavani | Y. Himanth"Optimized Carry Speculative Adder" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-3 , April 2018, URL: http://www.ijtsrd.com/papers/ijtsrd11216.pdf http://www.ijtsrd.com/engineering/electronics-and-communication-engineering/11216/optimized-carry-speculative-adder/b-v-pavan-kumar
This paper presents the comparative performances of Indirect Field Oriented Control (IFOC) for the three-phase induction motor. Recently, the interest of widely used the induction motor at industries because of reliability, ruggedness and almost free in maintenance. Thus, the IFOC scheme is employed to control the speed of induction motor. Therefore, P and PI controllers based on IFOC approach are analyzed at differences speed commands with no load condition. On the other hand, the PI controller is tuned based on Ziegler-Nichols method by using PSIM software which is user-friendly for simulations, design and analysis of motor drive, control loop and the power converter in power electronics studies. Subsequently, the simulated of P controller results are compared with the simulated of PI controller results at difference speed commands with no load condition. Finally, the simulated results of speed controllers are compared with the experimental results in order to explore the performances of speed responses by using IFOC scheme for three-phase induction motor drives.
ENHANCEMENT OF STATIC & DYNAMIC RESPONSE OF THE THREE PHASE INDUCTION MOTOR U...IAEME Publication
Agriculture, which used to be the mainstay of the economy of the Niger Delta region of Nigeria, was abandoned because of the discovery of oil in the 1950s. Oil exploration has, however, left a trail of sorrow as a result of environmental pollution. There is now a new awakening in the realization that oil is not a renewable resource an d, hence, effort needs to be diverted to revitalize the agricultural sector. Farmers in this region rely entirely on rain-fed cropping. Since this area is characterized by distinct dry and wet seasons, cropping activities are scewed towards the wet season, thus resulting in subsistence level of production. Supplemental irrigation has been advocated as a way forward, but the soil moisture status dictates when to irrigate, and how much irrigation water to apply. This study therefore investigated the mathematical relationship between soil moisture and groundwater level in the Niger Delta region of Nigeria. Soil moisture contents and groundwater levels from shallow wells were measured on a bi-monthly basis in 2013. The data were then subjected to regression analysis. The result showed a simple linear relationship between soil moisture and groundwater level. With this regression equation, it is now possible for farmers in this region to determine the moisture status of the soil just by measuring the level of water in their shallow wells. This is an invaluable tool in irrigation scheduling.
Low cost Real Time Centralized Speed Control of DC Motor Using Lab View -NI U...IJPEDS-IAES
DC motors are an outstanding portion of apparatus used in automotive and automation industrial applications requiring variable speed and load characteristics, due to its ease of controllability. Creating an interface control system for multi DC motor drive operations with centralized speed control, from small-scale models to large industrial applications is in much demand. By using Lab VIEW (laboratory virtual instrument engineering workbench) as the motor controller, we can control a DC motor for multiple purposes using single software environment. The aim of this paper is to propose the centralized speed control of DC motor using Lab VIEW. Here, Lab VIEW is used for simulating the motor, whereas the input armature voltage of the DC motor is controlled using a virtual Knob in Lab VIEW software. The hardware part of the system (DC motor) and the software (in personal computer) are interfaced using a data acquisition card (DAQ) -Model PCI- 6024E. The voltage and Speed response is obtained using LABVIEW software. Using this software, the speed of a group of motors can be controlled from different locations using remote telemetry. The proposed work also focuses on controlling the speed of the individual DC motor using PWM scheme (Duty cycle based Square wave generation) and DAQ. With the help of the DAQ along with Lab VIEW front panel window, the DC motor speed and directions can be changed easily in remote way. In order to test the proposed system the laboratory model for an80W DC motor group (multi drive) is developed for different angular displacements and directions of the motor. The simulation model and experimental results conforms the advantages and robustness of the proposed centralized speed control.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Modelling and Analysis of Induction Motor using LabVIEWIJPEDS-IAES
Induction motor characteristics became complex to study, after the invention of drives where the motor incorporated with power electronic switches such as thyristor, diodes, GTO, and MOSFET. Induction motor characteristics can be studied and modelled with software such as Finite Element Analysis and Laboratory Virtual Instrument Engineering Workbench. Finite Element Analysis is used to study and model the motor might be complex and the time taken to compute was unreliable. In this paper induction motor was modeled with the help of LabVIEW software this allows us to model and simulate the motor in order to analyze the performance. The induction motor modelled here was based on the mathematical equations.
Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560IOSR Journals
Current industrial robots are made very heavy to achieve high Stiffness
which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the
required energy to move the system. The requirement for higher speed and better system performance makes it
necessary to consider a new generation of light weight manipulators as an alternative to today's massive
inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities
and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much
more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such
systems.This project presents the flexibility and Kineto - Elasto dynamic analysis of robot manipulator
considering deflection. Based on the distributed parameter method, the generalized motion equations of robot
manipulator with flexible links are derived. The final formulation of the motion equations is used to model
general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be
used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path
trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory
(Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot
arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is
inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths
trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic
compensation. These torque variations are included in the robotic programming for getting the accurate endeffect
or’s path trajectory
A novel p q control algorithm for combined active front end converter and shu...eSAT Journals
Abstract
This paper presents a combined active front-end converter and shunt active filter (AFE+SAF) controlled by p-q theory control
algorithm. The Combined AFE+SAF is able to compensate reactive power, harmonic power and unbalanced power produced by
unbalanced linear, non linear and at the same time three phase AC to DC power conversion AFE+SAF will not pollute the source
currents. The p-q theory control algorithm is able to meat the target of load compensation and three phase AC to DC (for drives)
conversion. the AFE+SAF verified by simulation for different cases as unbalanced linear load, non linear load, unbalanced linear
and non linear load, unbalanced linear non linear and drive load. The whole simulation has been carried out on the mat lab/ simulink
software.
Keywords:- active front-end converter, shunt active power filter, p-q theory, power quality, harmonics, reactive power
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Minimum cost implementation of autonomous vehicleeSAT Journals
Abstract
In order to increase driving comfort, transportation efficiency, vehicles are made artificially intelligent. Autonomous vehicles or
driverless vehicles or making the vehicle drive on its own like humans do is the aim of automobile industry these days. An
autonomous vehicle is a vehicle that drives its self without any human or robotic operators help and has the potential to notice the
obstacles in its path and navigate through it. For vehicle to drive itself, it should have human perception of driving. This
understanding of path to traverse and overcome obstacles in its way is done with the help of computer, microcontroller and
sensors. In this paper, ARM-7 MCU is the main part that makes system driverless. This paper attempts to illustrate an effort
towards low cost atomizing of vehicle. Developed project vehicle can be used as load carrier in industrial areas where path of
location to destination is simple with minimum amount of obstacles.
Key Words: Arm, Mcu,Gps.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Low cost Real Time Centralized Speed Control of DC Motor Using Lab View -NI U...IJPEDS-IAES
DC motors are an outstanding portion of apparatus used in automotive and automation industrial applications requiring variable speed and load characteristics, due to its ease of controllability. Creating an interface control system for multi DC motor drive operations with centralized speed control, from small-scale models to large industrial applications is in much demand. By using Lab VIEW (laboratory virtual instrument engineering workbench) as the motor controller, we can control a DC motor for multiple purposes using single software environment. The aim of this paper is to propose the centralized speed control of DC motor using Lab VIEW. Here, Lab VIEW is used for simulating the motor, whereas the input armature voltage of the DC motor is controlled using a virtual Knob in Lab VIEW software. The hardware part of the system (DC motor) and the software (in personal computer) are interfaced using a data acquisition card (DAQ) -Model PCI- 6024E. The voltage and Speed response is obtained using LABVIEW software. Using this software, the speed of a group of motors can be controlled from different locations using remote telemetry. The proposed work also focuses on controlling the speed of the individual DC motor using PWM scheme (Duty cycle based Square wave generation) and DAQ. With the help of the DAQ along with Lab VIEW front panel window, the DC motor speed and directions can be changed easily in remote way. In order to test the proposed system the laboratory model for an80W DC motor group (multi drive) is developed for different angular displacements and directions of the motor. The simulation model and experimental results conforms the advantages and robustness of the proposed centralized speed control.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Modelling and Analysis of Induction Motor using LabVIEWIJPEDS-IAES
Induction motor characteristics became complex to study, after the invention of drives where the motor incorporated with power electronic switches such as thyristor, diodes, GTO, and MOSFET. Induction motor characteristics can be studied and modelled with software such as Finite Element Analysis and Laboratory Virtual Instrument Engineering Workbench. Finite Element Analysis is used to study and model the motor might be complex and the time taken to compute was unreliable. In this paper induction motor was modeled with the help of LabVIEW software this allows us to model and simulate the motor in order to analyze the performance. The induction motor modelled here was based on the mathematical equations.
Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560IOSR Journals
Current industrial robots are made very heavy to achieve high Stiffness
which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the
required energy to move the system. The requirement for higher speed and better system performance makes it
necessary to consider a new generation of light weight manipulators as an alternative to today's massive
inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities
and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much
more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such
systems.This project presents the flexibility and Kineto - Elasto dynamic analysis of robot manipulator
considering deflection. Based on the distributed parameter method, the generalized motion equations of robot
manipulator with flexible links are derived. The final formulation of the motion equations is used to model
general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be
used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path
trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory
(Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot
arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is
inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths
trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic
compensation. These torque variations are included in the robotic programming for getting the accurate endeffect
or’s path trajectory
A novel p q control algorithm for combined active front end converter and shu...eSAT Journals
Abstract
This paper presents a combined active front-end converter and shunt active filter (AFE+SAF) controlled by p-q theory control
algorithm. The Combined AFE+SAF is able to compensate reactive power, harmonic power and unbalanced power produced by
unbalanced linear, non linear and at the same time three phase AC to DC power conversion AFE+SAF will not pollute the source
currents. The p-q theory control algorithm is able to meat the target of load compensation and three phase AC to DC (for drives)
conversion. the AFE+SAF verified by simulation for different cases as unbalanced linear load, non linear load, unbalanced linear
and non linear load, unbalanced linear non linear and drive load. The whole simulation has been carried out on the mat lab/ simulink
software.
Keywords:- active front-end converter, shunt active power filter, p-q theory, power quality, harmonics, reactive power
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Minimum cost implementation of autonomous vehicleeSAT Journals
Abstract
In order to increase driving comfort, transportation efficiency, vehicles are made artificially intelligent. Autonomous vehicles or
driverless vehicles or making the vehicle drive on its own like humans do is the aim of automobile industry these days. An
autonomous vehicle is a vehicle that drives its self without any human or robotic operators help and has the potential to notice the
obstacles in its path and navigate through it. For vehicle to drive itself, it should have human perception of driving. This
understanding of path to traverse and overcome obstacles in its way is done with the help of computer, microcontroller and
sensors. In this paper, ARM-7 MCU is the main part that makes system driverless. This paper attempts to illustrate an effort
towards low cost atomizing of vehicle. Developed project vehicle can be used as load carrier in industrial areas where path of
location to destination is simple with minimum amount of obstacles.
Key Words: Arm, Mcu,Gps.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
The demonstration of fourier series to first year undergraduate engineering s...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
An iterative unsymmetrical trimmed midpoint median filter for removal of high...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
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IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Dc motor speed control with feedback monitor based on c# applicationeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Dc motor speed control with feedback monitor based on c# applicationeSAT Journals
Abstract Precise, cheap control and monitoring the speed of DC motor is ever hot area of work. In the present paper we have attempted to implement speed control and feedback monitoring for a 12 Volt/1000 RPM rated motor. Speed control is done with help of PWM pins on Arduino/AVR board and H-bridge IC L293D. Feedback speed monitoring is based on IR pair based interrupt monitoring. Hence Sensing and calculation part of process is handled by Arduino/AVR board. All of this is implemented with help of PC based user interface developed in C#. In a typical user interface speed control is achieved with help of trackBar and speed monitoring with help of Text window, was we get direct readout of current speed in RPM. Keywords: Arduino/AVR board, PWM, DC motor, IR based speed monitoring using interrupt, C# etc…
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
For years, LabVIEW has enabled engineers and scientists to develop sophisticated autonomous systems. At its core, Lab VIEW is widely used for sensor and actuator connectivity and currently offers more than 8000 drivers for measurement devices. Furthermore, with new libraries for autonomy and an entirely new suite of robotics-specific sensor and actuator drivers, LabVIEW provides all of the necessary tools for robotics development. The DC Motor is an attractive piece of equipment in many industrial applications requiring variable speed and load characteristics due to its ease of controllability. Speed of a DC motor varies proportional to the input voltage. With a fixed supply voltage the speed of the motor can be changed. This paper focuses on controlling the speed and direction of a Robot using PWM technique (varying duty cycle of a square wave) and Arduino. The four different keys are assigned for the forward, backward, left and right movement and it is controlled by using LabVIEW interface Arduino (LIFA).
Performance analysis of a single phase ac voltage controller under induction ...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
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An expanded haar wavelet transform and morphological deal based approach for ...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
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A software framework for dynamic modeling of dc motors at robot joints
1. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 612
A SOFTWARE FRAMEWORK FOR DYNAMIC MODELING OF DC
MOTORS AT ROBOT JOINTS
Mehmet Serdar Güzel1
1
Ankara University, Computer Engineering Department, Ankara, Turkey
Abstract
This paper addresses to develop an educational simulation tool for dynamic analysis of a 5 DOF robot arm’s actuators. Kinematics
analysis of robot arm was visually displayed with the corresponding tool in relation to dc motors, used at the robot arm joints.
Besides, dynamic modeling of DC motors is presented and their combined motion within the arm is analyzed and displayed visually.
Keywords: Robot arm, Robot Kinematics, PWM, DC Motor Simulation, Robot Simulator.
-----------------------------------------------------------------------***-----------------------------------------------------------------------
1. INTRODUCTION
Simulation is an engineering tool, used in designing and
analyzing of real time systems. It is mainly used to provide a
safe, reliable and inexpensive way for the operation of
complex systems. By using a simulator, experimental designs
can be effectively validated without consuming materials and
machining efforts in the workshop [1, 2, 3].
This paper presents the simulation of a position control system
using robot arm actuators having Five Degree of Freedom
(DOF). The simulation was mainly designed and implemented
based on the general mathematical model of DC servo motors.
Lynx-6 robot arm with 5 DOF was modelled analytically and
its forward and inverse kinematics was analyzed and
calculated. Consequently, a final model was generated and a
real time simulation was performed based on the proposed
model. Lynx-6 robot arm which is shown in figure 1 has 5
DOF with a grip movement. It is similar to human arm from
the number of joints point of view. These joints produce
shoulder rotation, shoulder back and forth, elbow, wrist up and
down, wrist rotation and gripper motion. [4,5]. One of the
most challenging and critical problems in control engineering
is to control analog voltages with digital inputs. PWM (Pulse-
Width Modulation) technique is used to vary the analogue
voltages by using digital pulses; these digital pulses are
generated through computer programming according to
motion specifications of the user by a servo control card.
Control cards are utilized to handle the given problem. In this
study, a SSC-32 servo control card has been attached into the
Lynx-6 Robot arm. The card mainly aims to convert the
digital pulses to dc voltages during the pulse duration to drive
the dc motors of the joints in required amounts [6]. In the
application part of this study a high level visual software
package was developed to simulate dynamically both a Lynx-
6 Robot arm’s actuators and their combined motion .Visual
Studio Net platform with C# programming Language was
employed to developed this visual software package.
Fig 1: Lynx-6 Robot Arm
2. DC MOTOR SIMULATION
DC motors are preferred to be used in control systems due to
the fact that they provide continuous motion unlike the stepper
motor motion in steps. Mathematical model of a DC motor is
derived to observe and define the control mechanism
analytically. The most common control technique for DC
motors is the armature-current control to generate rotational
motion. [7]. A typical DC motor, used in the Lynx-6 robot
arm is illustrated in Figure 2.
2. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 613
Fig 2: DC Motor
The basic mathematical model of a DC motor, employed in
the corresponding robot arm, was shown in Figure 3. In the
model, va is the supply voltage, ia is the winding current , Ra is
the resistance of the armature circuit, La is the inductance of
the armature circuit, J is the moment of inertia of the system
(including the motor and the load), the back emf is ea =
ke.ωa(here ke is known as the back emf constant or torque
constant ωa is the angular speed of the system, Te is the
electromagnetic torque developed by the motor, TL is the load
torque, and B is the damping coefficient which is usually
ignored. The comprehensive information about these is given
in reference [8].
Va +
RaLas
1
kt
Te
+
TL
_
Bs
1
wa(s)
kv
Vc
_
Ia(s)
Fig 3: Mathematical model of a DC Motor
The dynamic simulation of the dc motor constitutes:
a) voltage/current equation of the motor armature,
b) Dynamic equation of the motor-load (mechanical) system,
c) Electromagnetic torque equation
a
a
aaaa e
dt
di
LiRv (1)
m
e m L
d
T J B T
dt
(2)
TL = ke ia (3)
The general formula to solve differential equations given in
(2) and (3) is illustrated as follows :
e
tctot
xtoxxtx
/)(
)()()()(
(4)
Where (tc) time constant for RL circuits is L/R , Equation 4
can be interpreted as in equation (5) due to fact that all
Resistors, Capacitors, and Inductors have positive values
when t>0 [7].
3. PWM (PULSE-WIDTH MODULATION)
PWM was employed in variety of applications, ranging from
measurement and communications to power control. It is a
way of digitally encoding analog signal levels. Through the
use of high-resolution counters, the duty cycle of a square
wave is modulated to encode a specific analog signal level. At
any given time, the full DC supply is either fully ON or fully
OFF.
The voltage or current source is supplied to the load by means
of a series of on and off pulses. The on-time is the time during
which the DC supply is applied to the load, and the off-time is
the period during which the supply is switched off. Figure 4
presents three different PWM signal outputs, used in actuator
motor control. For example PWM signal output with %10
duty cycle in (a) is ON during %10 of its period and OFF
during %90 of its period. Others in (b) and (c) have the similar
properties with different ON/OFF periods.
The initial position of any dc servo motor of Lynx-6 robot
arm was compared with the new required positions which
were both defined by user program parameters. The difference
between positions is applied as an input signal to servo card
and the essential PWM signal was generated to feed the dc
motors with dc supply. Robot arm motors were chosen to be
used in no more than 90 degree range of motion. Hence the
corres- ponding “width” of the PWM signal pulse varied from
0.9 milliseconds (minimum position), to 2.1 ms (maximum
position). The Pulse is repeated every 14 to 20 milliseconds
[9] .
Fig 4: PWM signals with varying Duty Cycles a) %10 duty
cycle b) %50 duty cycle c) %90 duty cycle
3. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 614
4. KINEMATICS
Denavit-Hartenberg representation is used to model the joints
of Lynx-6 Robot arm, [10] , can be seen in Figure 5. All the
joints are assigned by using the principles of D-H convention.
Robot kinematics is mainly divided into two groups, namely,
forward kinematics and inverse kinematics. In forward
kinematics, the length of each link and the angle of each joint
are given and the position of any point in the work space of
the robot is calculated. As opposed to forward kinematics, in
inverse kinematics, the length of each link and the position of
the point in work space are given and the angle of each joint is
calculated.
Fig 5: Model of Lynx-6 Robot Arm
4.1 Forward Kinematics
To calculate forward kinematics equations for 5 dof Lynx
arms, the transformation matrices corresponding to robot arm
joints, [11], were manipulated and the final forward
kinematics solution was shown below.
Tf = A1*A2*A3*A4*A5 , for 5 Dof (5)
4.2 Inverse Kinematics
Inverse Kinematics analysis determines the joint angles for
desired position and orientation in Cartesian space. The robot
arm manipulator which is used in this study has five degrees
of freedom (DOF). In order to determine the joint angles, the
final matrix equation is multiplied by An
-1
(n=1, 2, 3, 4, 5, 6)
on both sides sequentially and the generated linear equations
were solved [11]. The inverse kinematic solutions for five
DOF Lynx arm are shown below:
0 0 0 1
x x ax x
y y ay y
f
z z z z
n o p
n o p
T
n o a p
θ234 (WARTG=Wrist Angle Relative to G round) (6)
θ1 = arc tan (py/px) or θ1 = θ1 + 180° (7)
θ2 = arc tan (S2 /C2) (8)
θ3 = arc tan (S3 /C3) (9)
θ4 = θ234 - θ3 - θ4 (10)
θ5 = arc tan(S5 / C5 ) (11)
5. SOFTWARE DESIGN
The control program has been implemented using C#
programming language in Visual Studio Net platform. The
program supports two main operation modes, simulation of
DC servo motors and kinematics analysis of Lynx-6. Main
Screen of the program was shown in figure 6.
Fig 6: Main Screen of the Framework
4. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 615
On the left side of the main screen, there are two graphical
views, side view and top view of the robot arm, are displayed
to show the robot arm’s motion in real time. There are three
engines exist within the software package, namely,
Kinematics Engine, PWM Engine, and Simulator Engine.
Kinematics Engine: It is responsible with the solutions of
forward and inverse kinematics equations and the calculations
related to joints and Cartesian coordinates.
PWM Engine: It is responsible with the managing of
analogue voltages’ and digital pulses and provides correlation
between user defined input values (angle or position) and
control card parameters.
Simulator Engine: It is responsible with the interpretation of
the robot model, construction of internal data structures to
represent the robot and manipulating the joint angles, as
specified by simulation commands and the robot’s kinematics
The developed software is mainly designed to simulate and
show the operational stages of the robot arm. The general
flowchart is shown in figure 7.
Fig 7: Flow Chart Diagram of the Software
The steps of algorithm are defined as follows:
a) Program is started.
b) Data is entered either as degree angles from Forward
Kinematics Input Screen or as position coordinates from
Inverse Kinematics Input Screen.
c) If given input values are position values; Kinematics Engine
start to work and use inverse kinematics equations to derive
required input angle values, which has been detailed in
Kinematics section.
d) Derived angle values must be converted into control
card (SSC-32) parameters [6].
e) PWM engine is responsible for managing analogue values
with digital inputs, using applied voltage Interval, paired with
corresponding angle value by the engine.
f) All related joints engines are start to work for dynamic
simulation with given constant motor parameters such as
Armature Resistance , Inductance etc. and calculated values as
applied voltage by PWM engine.
g) Simulator Engine starts to show the work. All motional
characteristics of robot arm were displayed with these models.
There are also graphical windows on the main screen for all
joints to show robot joint response such as current vs time
(current responses to varying time) and angular speed vs
time (speed response to varying time) graphs. An example of
robot base joint is shown in figures 8 and 9 respectively.
Fig 8: Current-Time Graph for Base (45 degrees)
Figure 8 presents an experiment in which it can be inferred
that as 2.7 volt is applied to the system; the motor can only
achieve a maximum value of 1.8 amber. Besides, it takes the
motor one second to reach its steady-state value. This example
in essence shows the change in current according to the time
interval. Additionally, Angular Speed/Time graph of given
software is also shown below that as the same volt is applied
to the system, the motor can only achieve a maximum speed
of 5 rad/sec, which also takes the motor one second to reach
its steady-state speed.
5. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 616
Fig 9: Angular Speed-Time Graph for Base (45 degrees)
There is also a kinematics screen which shows all
transformation matrices which are derived from Final
Kinematics Matrices is shown in figure 10. This screen is
developed for detailed analysis of Kinematics equations. All
transformation matrices of related joints can be observed and
tested by users.
Fig 10: Movement Matrices for (x=23;y=10;z=23)
6. DISCUSSION AND CONCLUSIONS
This section addresses to discuss the results of a numerical
example that all calculation steps including the simulation
logic of the proposed software framework will be detailed as
follows:
The following initial values are given for the experiment:
Ra = 5; Armeture Resistance
L = 2; Inductance
Jm = 0.025; motor constant
Bm = 0.1; friction constant
kb = 0.1; back emf constant
Ki = 0.5; moment constant
Tl = 0.0; Load moment
for given 0 – 6V applied voltage interval
Position Angle Values are calculated
X Y Z BASE SHOULDER ELBOW WRIST
23 8 21 20 9 -3 35
As angle values are calculated from position vector by
Kinematics Engine into signals, they are ready to be used by
the control card [6]. The signal consists of positive going
pulses ranging from 0.5 to 2.5mS (milliseconds) long,
repeated 50 times a second (every 20mS). The servo positions
its output shaft in proportion to the width of the pulse. PWM
engine calculates signal values for four different joints
simultaneously that applied voltages are also calculated by
given pulse values.
Calculated pulse values are,
BASE SHOULDER ELBOW WRIST
1713 ms 1400 ms 1538 ms 1438 ms
Calculated voltage values are,
BASE SHOULDER ELBOW WRIST
4.1 V 2.5 V 1.4 V 0.8 V
Base motor simulator screen is illustrated in figure 11 and the
corresponding Current-Time graph can also be seen in figure
12.
Fig 11: DC simulator for Base (22 degrees)
Fig 12: Current-Time Graph for Base (22 degrees)
At the final stage, the final position matrices are displayed and
the simulator takes its new position with respected to the
calculated angle values.
6. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 617
Fig 13: Final Position Matrices and Simulator
Overall, a new software tool for manipulator based simulation
has been presented in this paper. The tool supports low cost
Lynx arms which are mainly employed for scientific and
educational applications. The tool analyzes manipulator
actuators (DC servo motors), as well as it works on motional
characteristics of manipulator and to be able to solve both
inverse and forward kinematics. The proposed tool is flexible
and open source that researches and students can use this tool
for different tasks with minor modification. The interface of
the proposed software framework is user friendly that
researchers can learn and utilize the tool for their problems
with minor effort.
The most powerful side of the tool is its ability to provide
association between dynamic analysis of DC motors and
Motional Characteristics of Lynx-6 robot arms. There exists
more powerful DC motor simulators such as LABVIEW and
MATLAB, but their costs are high for many researchers to
handle and they do not provide association between dynamic
analysis of DC motors and Kinematics of Lynx-6
Manipulators as the proposed software does.
Furthermore, the proposed software framework is free
Software package and will be on the official web page of
Computer Engineering Department of Ankara University
(http://comp.eng.ankara.edu.tr/proje.html. This paper is a
revised version of a conference paper that appeared as [12].
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graphics simulator for a robotic arm,” IEEE Trans. Education,
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[2]. T. Raz, “Graphics robot simulator for teaching
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[3]. Antonia Yordan-Nones , Heterogeneous Modeling &
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[4]. Koyuncu, B. and Güzel, M., Software Analysis of Lynx-6
Robot arm, ARC 2008, pp. 1-8
[5]. Güzel, M. S, Hinislioglu, Y., “A robotic software for
intelligent applications, Artifical Life and Robotics 18 (1-2),
76-82
[6]. Lynx SSC-32 Servo motor controller board user manual.
Available online at www.lynx.com. com. Accessed on
December 2007
[7]. Luca Zaccarian , DC motors: dynamic model and control
techniques , pp 16-22
[8]. Raymond A. DECARLO, Linear Circuit Analysis. pp.
224 -229 , Prentice HALL.
[9]. Lynxmotion Inc ,2007 http://www.lynxmotion.com
[10]. J. Denavit and R.S. Hartanberg , “A kinematic notation
for lower-pair mechanisms based upon matrices” ASME J.
Appl .Mechanics vol. 22, pp. 215 -221, 1955.
[11]. Koyuncu, B., and Güzel, M., “Software Development
for the Kinematic Analysis of a Lynx 6 Robot Arm
,International Journal of Applied Science, Engineering and
Technology , Volume 4, Number 4 pp. 228-233 ,2007
[12]. Koyuncu,B.,Güzel, M: A visual Tool for Kinematics
Analyses of Lynx-6 Robot Arms together with dynamic
modeling of dc motors at robot joints ,International conference
on Automation, Robotics and control systems, arcs-08,
Florida, USA,July 2008, pp 145-150.