Please use this identifier to cite or link to this item: http://hdl.handle.net/10603/15470
Title: Development of arm based embedded system and implementation of fuzzy logic servo controllers for robot applications
Researcher: S. Chandramohan Reddy
Guide(s): Dr. K. Nagabhushan Raju
Keywords: ARM based embedded system
Fuzzy logic servo controllers for robot apllications
Upload Date: 29-Jan-2014
University: Jawaharlal Nehru Technological University, Anantapuram
Completed Date: 24.05.2013
Abstract: Motor control for accurate positioning is a very important function in many scientific applications like robotics, space shuttles, vision and motion control, etc. In modern industrial control and automation, the robots play a vital role. The motors play a very important role in the functionality of robots in such amenities as a rotating base, pivoting shoulder, pivoting elbow, rotating wrist and gripper fingers. The measurement of rotor shaft angle of a motor is one of the important requirements in the modern control system, instrumentation and computing technologies. In many control applications, the position of a motor is ill defined and for many complex systems the construction of mathematical model is difficult or sometimes impossible due to non-linear and time varying nature of the parameters. Thus, the precise and accurate measurement, and control of angular position of the motor has been a challenging task for the all the researchers in robotic field. newlineAlthough a number of publications are available for motor control in robot applications, very little attention is paid towards the development of a low cost, high accuracy digital angular position detector, called as Resolver to Digital Converter (RDC). In view of the elaborate literature survey on applications of RDC in the field of control instrumentation, most of the research reported on the application of RDC techniques for robot applications is based on simulation. Further, the design and real time implementation of these RDC techniques for robots is very rare. Even if so, it is not found in any research paper or report that the design of complete hardware (16-bit analog interface card and necessary signal conditioning and control circuitry) and development of software to realize RDC techniques (using embedded C ) for measurement and control of motor position in a robot. Further, very little amount of newlinework is being done on the national level in integrating the RDC techniques with the ARM processor based embedded systems which is the state of the art. newlineIn
Pagination: No. of Pages - 208
URI: http://hdl.handle.net/10603/15470
Appears in Departments:Department of Electronics and Communication

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01_title.pdfAttached File34.96 kBAdobe PDFView/Open
02_certificates.pdf7.51 kBAdobe PDFView/Open
03_acknowledgements.pdf9.45 kBAdobe PDFView/Open
04_contents.pdf12.81 kBAdobe PDFView/Open
05_preface.pdf96.33 kBAdobe PDFView/Open
06_list of tables figures.pdf23.78 kBAdobe PDFView/Open
07_chapter 1.pdf583.85 kBAdobe PDFView/Open
08_chapter 2.pdf163.66 kBAdobe PDFView/Open
09_chapter 3.pdf451.91 kBAdobe PDFView/Open
10_chapter 4.pdf386.17 kBAdobe PDFView/Open
11_chapter 5.pdf1.04 MBAdobe PDFView/Open
12_chapter 6.pdf3.55 MBAdobe PDFView/Open
13_chapter 7.pdf41.13 kBAdobe PDFView/Open
list of publications.pdf20.75 kBAdobe PDFView/Open
references.pdf350.2 kBAdobe PDFView/Open
schematic.pdf46.18 kBAdobe PDFView/Open


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