Thu Dau Mot University Journal of Science


MONITORING THE END-EFFECT POSITION OF THE THREE-JOINT ROTARY MANIPULATOR IN MATLAB SIMMECHANICS USING THE PID ALGORITHM

By Tan Nguyen Van, Xuan Vinh Ha
DOI: 10.37550/tdmu.EJS/2024.01.524

Abstract

Industrial robots have become one of the effective support tools for human labor. Robots are a solution to replace humans in repetitive tasks and in environments where humans cannot work. Robots have become one of the factors responding to the Industrial Revolution 4.0. Automatic control devices require high-precision control quality. Therefore, in this paper, we focus on researching controlling the position of the actuator accurately based on the PID algorithm. First, we study the forward and inverse kinematics of a three-joint robot. Second, we design the robot model on inventor software and transfer the 3d model in inventor software to Matlab Simmechanics. Third, modeling robot model on Simulink to simulate and evaluate the results achieved


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Publication Information

Publisher

Thu Dau Mot University, Viet Nam

Honorary Editor-in-Chief and Chairman of the Editorial Board

Assoc. Prof. Nguyen Van Hiep

Deputy Editor-in-Chief

PhD. Trần Hạnh Minh Phương
Thu Dau Mot University

Editorial Board

Prof. Tran Van Doan
Fujen University, Taiwan
Prof. Zafar Uddin Ahmed
Vietnam National University Ho Chi Minh City

Prof.Dr. Phillip G.Cerny
The University of Manchester, United Kingdom
Prof. Ngo Van Le
University of Social Sciences and Humanities (VNU-HCM)

Prof. Bui The Cuong
Southern Institute of Social Sciences​​​​​​​
Prof. Le Quang Tri
Can Tho University

Assoc. Prof. Nguyen Van Duc
Animal Husbandry Association of Vietnam
Assoc. Prof. Ted Yuchung Liu
National Pingtung University, Taiwan

PhD. Anita Doraisami
Economics Monash University, Australia
Prof. Dr. Andrew Seddon
Asia Pacific University of Technology & innovation (APU)

Assoc. Prof. Le Tuan Anh
Thu Dau Mot University
Prof. Abtar Darshan Singh
Asia Pacific University, Malaysia

Prof.Dr. Ron W.Edwards
The University of Melbourne, Australia
Assoc. Prof. Hoang Xuan Nien
Thu Dau Mot University

PhD. Nguyen Duc Nghia
Vietnam National University Ho Chi Minh City
PhD. Bao Dat
Monash University (Australia)

PhD. Raqib Chowdhury
Monash University (Australia)
PhD. Nguyen Hoang Tuan
Thu Dau Mot University

PhD. Nguyen Thi Lien Thuong
Thu Dau Mot University

Assistant

Nguyen Thi Man
Thu Dau Mot University