Control of 2-DOF robotic manipulator using brushless DC motor to track the motion of object in a plane

Abstract

In this paper, a 2-DOF robotic manipulator is controlled to track the motion of object in a plane using brushless DC motor as an actuator. Two brushless DC motor are used to actuate the each of two revolute joints of the 2-DOF robotic manipulator. To control the angular position of robotic arm fuzzy PD controller is used. To generate the Smooth trajectory for joint angle of robotic manipulator, cubic polynomial equation is used. The link lengths for two links and time for tracking is specified. It is shown that the end-effector of the manipulator reaches from initial to final co-ordinate of the object in specified time.