Study on industrial robot arm control system using single term haar wavelet series

Abstract

In the last two decades robots have been finding intensive applications in factories to perform complex tasks such as grinding insertion deburring fastening and other assembly related tasks In such tasks it is essential that the manipulator follows a preplanned path This is a major problem of motion or trajectory planning and motion control for the manipulator In order to position the arm dynamics and control of the constrained motion of the manipulators has to be studied in detail Control of an industrial robot is essentially a problem of dynamics The efficiency of a control system is based on the exact measurement of the parameter variations or errors The present research attempts to analyse the control system of industrial robot arm and to reduce the error that occurs during continuous working of the robot by proposing a new mathematical tool called Single Term Haar Wavelet Series method A review of available literature reveals that the analysis of control system for the manipulation is still a relatively new topic for research The literature presents several approaches for the position control of manipulators Based on the literature the proposed research uses the Variable Structure Control system for experimental analysis