Control of a Robotic Arm on the Principle of Separate Decision of an Inertial Navigation System

Abstract

This paper describes the system activity and the importance of autonomous inertial navigation system /INS/ and its implementation to control the robotic arm. The article further introduces the execution of DC motor regulation utilized for the positioning of a rotary positioned arm. The motor control comprises the current regulation, angular velocity and the rotation of the motor shaft fixed to the arm regarding the required angular change course of the arm rotation. The regulation structure of the DC motor is carried out in MATLAB/Simulink programme. The arm movement is investigated via mathematical model and virtual dynamic model formed in MSC ADAMS programme.