Integral State Feedback Control Design for 2-DOF Dynamixel AX-12 Manipulator Robot

摘要

The one type of robot that is often used in industry is the manipulator robot. This robot takes the physical form of a human arm that can move due to its joints in various places. This research aims to design an integral state feedback control (ISFC) system for 2 degrees of freedom (DOF) manipulator robot using the pole-placement method. This controller is compatible to use for controlling the manipulator robot that is classified into a multi-input multi-output (MIMO) system. We use a Dynamixel AX-12 manipulator robot as a plant and conduct the linearization process to get the controller gain using MATLAB. The simulation result shows that both joint positions can reach the reference with a maximum overshoot of less than 10% with a settling time of less than 6 seconds. Hardware experimental testing is also conducted to see the controller’s performance.