Analysis and Implementation of DCS in DC-DC Boost Converter for a Robotic System

Abstract

The DC servo motor drives are broadly utilized in delivering excessive performance robot packages. In high performance programs, the rate of motor suffer various parameter changes, load disturbance and model uncertainties. So to take care of all the parameters like speed, and the compensation factors that affect the speed of the motor are also analyzed. This is considered as one of the major and testing task. Due to change in load and the offered electric stress, it effects boost converter topologies and thereby reducing the system efficiency. The additional parameters that are being discussed are speed, position control of servomotor and controlling the movement of a robot leg are also discussed. Here, the proposed work involves the implementation of distributed control system (DCS) in DC-DC Converter for a robotic system. The working rule involves the wall following hexapod walking robots. Here, the hexapod robot containing six legs was controlled by means of six separate servomotors. The servo motor works have supported the principles generated through the fuzzy controller. So as to enhance the performance of the robotic movement DCS is usedin the DC-DC boost converters and are placed at the DC servo motor side. The hexapod robot movement analysis is formed using virtual robot experimentation platform (V REP) software. Moreover the open loop response and PID response graphs using DCS is implemented on MATLAB Software. In this studies, the entire process is done on simulation by the use of MATLAB.