Control of AX12 Servo Motor Current Control of Gripper Arm Robot Based on Microcontroller
Kartono Wijayanto
Politeknik Negeri Bandung
Abstract
Application of automation technology using robots, especially robot arms in various industries such as industry (painting and welding), beverage industry (storage) and others has been able to improve the quality, precision and speed of production. At present the implementation of robotic arms is increasingly widespread and is used as a food and beverage waiter. The working system of the robotic arm in placing the holder in a specific destination or position is used by motors as electrical drive for each joint. Motor work is based on programs embedded in the micro controller. The dynamics of robot arm motion are based on backward or forward kinematics information methods. In this research, we will discuss the AX12A motor control of gripper robot arm so that it can hold the work piece or specimen at a certain level of hardness and weight in accordance with the ability of the motor. Dynamixel AX12A motor hall effect current sensor module which is fed to the controller and then processed using the Tsugeno Fuzzy Logic algorithm. The controller output signal will control the AX12A motor. The results obtained are in line with the expectation that the robotic arm gripper manages to hold specimen objects properly and in accordance with the setpoint given to rubber ball, chicken eggs, and chips specimens.
Keywords: Gripper, motor AX12, Fuzzy logic, Microcontroller
Topic: Electrical Engineering