Modeling and Motion Control Selection and Design of Electric Motor for Mechatronics Robotics Applications

Abstract

To simplify mechatronics motion control systems design, this paper proposes mathematical modeling, simulation and control of a given electric motor in terms of input volt, Vin and output motions. The proposed model can be used to select,design, test and validate both plant's and motion control design to meet desired output performance.The proposed model was tested in the design of two systems; a single joint robot arm and mobile robotic system. Keywords—DC motor, simulink model, robot arm, mobile robot, control system.