Design and implementation of electronic system and computer control of an indexing table and quality control unit
Capability and meanwhile simplicity have stupendously expanded the area of application of linear controllers in the industrial applications, particularly the control of robotic arms, and other automated systems. The ultimate goal to accomplish this project is to show this capability in the frame of movement control of the arm of a quality control unit (side device), which forms a part of an automatic cell together with an indexing table. The fact that the existence of the gearbox, dramatically decreases the effects of non-linear dynamic of the arm to linear dynamic of the DC motor, justifies the idea of design and implementation a linear controller like Lead-Lag to control the quality control arm. Of course, we need to apply some other equipment like DC motor torque control system, sensors, and related interface circuits. In this article, it will be explained how the above goal will be accomplished by linear identification of the system with the method of step response identification and then digital implementation of the linear controller in computer and application of the arm motor torque control (Karami, J., Roohi, A., Design and implementation of electronic system and computer control of an indexing table and quality control unit. 2006 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, 2006).
indexing table torque control linear identification automatic arm position control dc motor drive pwm method lead-lag controller optical encoder