Design and Control of Robot Mechanism Used for Packaging Soft Food Products
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Keywords:
Robot, Mechanisms, PID, Control, PackagingAbstract
Solving the kinematic problem is of great importance for the trajectory tracking of robot
mechanisms. Each of the analaytical, geometric and numerical methods used for kinematic modeling has
disadvantages in different aspects. While analytical and geometric methods can be effective in robot
mechanisms with simple structures and a certain geometric arrangement, numerical methods that provide
solutions to robot mechanisms with multiple degrees of freedom and complex structures have difficulty in
calculation. In addition, these methods cannot respond to singular points in the robot arm working space.
For this reason, the mechanism here was separated into simple one sand examined geometrically,
numerically and numerically.In this study, a simulation and experimental research has been conducted forth
development of PID controller using MATLAB/SIMULINK software. Simulation development of PID
controller with mathematical model of DC motor has been done using Ziegler-Nichols method and trial and
error method. PID parameter has been tested with a real motor and also with PID controller in
MATLAB/SIMULINK software. Data acquisition has been used to implement PID controller from software
to real DC motor. From simulation and experiment, the resulting performance of PID controller has been
compared in terms of response and evaluation has been presented.
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