Robotic Arm Control Using Pid Controller And Inverse Kinematics

  Ms. Vaijayanti B.

Space robotics has been considered one of the most promising approaches for on-orbit services such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. This paper discuss how the robot kinematics are controlled using the PID controller using MATLAB/SIMULINK and ARDUINO software.

Keywords- PID, Brushed DC motor control, Inverse Kinematics

Unique Identification Number - IJEDR1702247
Page Number(s) - 1571-1579
Pubished in - Volume 5 | Issue 2 | June 2017
DOI (Digital Object Identifier) -   
Publisher - IJEDR (ISSN - 2321-9939)

  Ms. Vaijayanti B.,   "Robotic Arm Control Using Pid Controller And Inverse Kinematics", International Journal of Engineering Development and Research (IJEDR), ISSN:2321-9939, Volume.5, Issue 2, pp.1571-1579, June 2017, Available at :http://www.ijedr.org/papers/IJEDR1702247.pdf