Position Estimation in DC Motor using Strain Gauge based Closed Loop Control for Robotic Grippers

摘要

This paper elucidates and focuses on the design of a Strain Gauge based closed loop control of DC motor using PID controller to obtain speed, torque and position of DC motor. The DC motors have characteristics like high start torque, instant response performance which are widely used because they have a wide speed range and can be linearly controlled. Directing the control of the position of DC motor is done by employing a Proportional-Integral-Derivative (PID) controller. By integrating PID controller to the DC motor the control system proposed in the paper will solve the error in position done by the DC motor and motor position is controlled to the desired point. The PID parameters Kp, Ki and Kd are finely tuned to optimal values to curb the position of the DC motor by trial-and-error method. The method is simple and effective. And to ensure the position delivered by the robotic gripper is correct, strain gauge feedback is implemented. Tuning of PID parameters depends on the entire control system parameters. Here, SIMULINK is used to build the PID controller driven closed loop feedback system for implementing the precise jaw position estimation especially for the robotic grippers.