Project
Abstract
Introduction
- Overview
- Problem statement
- Objectives
- Methodology
- Thesis Organization
Chapter two: background reading Literature Review
2.1 Introduction
2.2 Robotics
2.2.1 History of robots 2.2.2 Applications of robots
2.2.3 Robotic Arm
2.2.4 Mentor Desktop Robots
2.3 Direct current motor
2.4Proportional integral derivative controller
2.4.1Proportional (P) controller
2.4.2Proportional-Derivative (PD) controller
2.4.3 Proportional-Integral-Derivative (PID) controller
2.4.4 Characteristic of P, I and D Controllers
2.4.5 Tuning PID methods
2.5 Arduino controller
2.6MATLAB Software
2.7Literature review
Chapter three: Design and Implementation of PID Controller
3.1Introduction
3.2 Hardware Implementation
3.2.1 DC motor
3.2.2Arduino Uno board
3.2.3 L293D driver
3.3 Software Implementation
3.3.1MATLAB& simulink
3.3.2 System identification software
3.3.3 PID controller implementation software Chapter four: Simulation, Experiments, and Results
4.1 introduction
4.2 System identification
4.2.1Expriment 1 (Elbow DC motor)
| 4.2.2 1Expriment 2 (Shoulder DC motor | ) |
4.5Design PID controller for Elbow DC motor
4.6 Design PID controller for shoulder DC motor
4.7Real time testing for Elbow DC motor
4.7Real time testing for shoulder DC motor Chapter five: Conclusion and Recommendations
5.1 Conclusions
5.2 Recommendations
References Appendix A Appendix B Appendix C