Development and control of servomotor of software for vertical motion

Abstract

Cable driven system is one of the most potential manipulator system used to fulfill the industrial area which cannot completed by conventional robot system. The working principle of cable driven system is controlling the end effector by servo motor through the cable. Hence, cable driven system able to provide function of high load capacity and large workspace simultaneously.

The main objective of this project is to investigate the motion control of the servo motor in order to overcome the vertical load which connected by cable. Due to the main focus is vertical motion, experiment setup was modified to provide enough support for the system and sufficient vertical height to perform the testing. Subsequently, electronic hardware wiring was connected and setting of the hardware is preset to fit the condition of the experiment.

After the setup of the hardware, the software was start developed. Research was done to find out the suitable idea to build up the concept for the software. Consequently, the concept of the software was implemented into Labview step by step. The software developed in closed loop system with PID control loop. Besides that the software also equipped trajectory generation function and data recording ability. The developed software served the program to control the motion of the dc servo motor.

Experiments were then conducted by controlling the motor in Voltage mode for upward and downward motion. The relationship between voltage provided, current drawn by the motor, angular velocity and torque generated by the motor is observed and analyzed. Besides that, the factor of gravitational force also included in the experiment and the gravitational force effect is explained.