Improving the accuracy of pick and place robotic arm using PID controller

Abstract

The industry is moving from current state of automation to Robotization, to increase productivity and to deliver uniform quality. One type of robot commonly used in industry is a robotic manipulator or simply a robotic arm. It is an open or closed kinematic chain of rigid links interconnected by movable joints. In some configurations, links can be considered to correspond to human anatomy as waist, upper arm and forearm with joint at shoulder and elbow. At end of arm a wrist joint connects an end effector which may be a tool and its fixture or a gripper or any other device to work. This research aim to implement the controller of the robotic arm and improve the accuracy of it in order to achieve high response and performance the movement of the arm is controlled through potentiometer and to move forward and backward, left, right, motions. Five motors are connected to microcontroller arduino for the body movement. The PID is used here to make the process of positioning of the arm more accurate. By using hardware components ( robotic arm, MPU6050 sensor L298 ,l292 driver arduino )and software components( arduino code PID controller proteus simulation ) the angle of the arm is read by the sensor and the PID controller has adapted the position of the arm and then the accuracy of the robotic arm has improved The robotic arm now is able to reach to the stability in its position as fast as possible.