Open AccessReduction of positional error in a path of a 2 DOF serial planar manipulator
Author(s) -
Rupesh Tatte,
H. T. Thorat,
P. V. Deosant
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1004/1/012012
Subject(s) - path (computing) , tracing , serial manipulator , planar , control theory (sociology) , interpolation (computer graphics) , acceleration , computer science , trace (psycholinguistics) , reduction (mathematics) , path tracing , algorithm , motion (physics) , mathematics , control (management) , computer vision , parallel manipulator , robot , artificial intelligence , geometry , physics , rendering (computer graphics) , linguistics , philosophy , computer graphics (images) , classical mechanics , operating system , programming language
Tracing a path is one of the major applications of a robotic arm. In this paper, a 2 DOF serial planar manipulator which traces the desired path is discussed. Quite often the path is defined by accuracy points lying on it. To trace these points, joints of links of the manipulator are required to be given as a coordinated inputs θ 1 and θ 2 (input angles of two links). This path is traced with a desired speed indicated by the time at which the accuracy points are reached. In open-loop control, this is achieved by giving time, voltage/current input to driving motors. This path is determined based on the torque, acceleration, velocity of the linkages and individual joints. Hence the relationship between time and joint angles is necessary. When joint angles θ 1 and θ 2 are interpolated between two accuracy points, precise coordinated motion is not possible. Some deviation from the desired path will occur. This is the positional error for tracing the path. Here, analysis has been done to find the effect of degree of interpolation on the positional error.