Axis controlled movement of robot using brushless DC motor drive

摘要

This work attempts to study the simulation of the kinematics routine for the axis control of the robot using brushless DC motor drive. The main motivation is to perform kinematics routines as well as control the robot in real-time. The graphical user interfaces (GUI) has been developed in Matlab. The GUI has been designed such that the user can get a feel for the kinematics of the 5-axis articulated robot. The system was developed for demonstrating the basic trajectory planning method for the axis control of robot. Further the trajectory planning platform was tested for a particular experiment and was found to be accurate enough for experimental purposes. This comprehensive software package allows the user to learn the various aspects of serial manipulator basics and also helps in exploring the concepts better by working in real-time. Keywords: Brushless DC motors, MATLAB, SImulink, GUI, permanent magnet synchronous motors, robot