Simulating the arm movements of a stepper motor controlled pick-and-place robot using the stepper motor model

R. V. Sharan, G. C. Onwubolu

Research output: Contribution to journalArticle

Abstract

This paper describes the simulation of arm movements of a stepper motor controlled pickand-place robot using the mathematical model of a stepper motor. The model includes: a) a model of the stepper model driver board, b) a model of the hybrid stepper motor and load combination, and c) the interconnection of the two models which is used to simulate the motions of the base, shoulder, elbow, and wrist (pitch) motions of the pick-and-place robot. The model is simulated using Simulink and the results of angular displacement from the simulation and actual measurements show good uniformity.
Original languageEnglish
Pages (from-to)59-66
Number of pages8
JournalInternational Journal of Advanced Science and Technology
Volume60
DOIs
Publication statusPublished - 2013
Externally publishedYes

Keywords

  • pick-and-place robot
  • modeling
  • simulation
  • hybrid stepper motor (HSM)

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