FINAL PROJECT PROPOSAL

OPTIMIZATION OF SERVO PARAMETERS FOR

CONTROLLING MANIPULATOR ROBOT SYSTEM USING
AEROTECH AUTOMATION 3200 MOTION CONTROLLERS

Submitted as fulfilment of requirement for

ELECTRICAL ENGINEERING BACHELOR

Proposed By:
Faisal Hamdany
0103510018

DEPARTMENT OF ELECTRICAL ENGINEERING

FACULTY OF SCIENCE AND TECHNOLOGY
UNIVERSITY AL AZHAR OF INDONESIA
JAKARTA
2015
LETTER OF FINAL PROJECT ENDORSMENT

Undersign certify that the following university student

Final Project Title

: Optimization of Servo Parameters for Controlling

Manipulator Robot System Using Aerotech Automation
3200 Motion Controllers

Name

: Faisal Hamdany

NIM

: 0103510018

Major

: Electrical Engineering

This final project was submitted to the Department of Electrical Engineering

University Al Azhar Indonesia and has been accepted as fulfilment of the
requirement for the degree of Bachelor. The members of the Advisory Committee
were as follows:
Final Project Supervisor I

Final Project Supervisor II

(Dr. Ir. Danny M. Gandana, M.Sc)

(Ir. Nasril, M.Sc)

Head of Electrical Engineering Department

(Dwi Astharini, S.T, M.Sc)

CHAPTER 1
INTRODUCTION

1.1 Background
Robot has replaced the manual equipment requires a lot of man power to
operated. Robotics technology development has made quality human life is
increasingly high. Currently the development of Robotics technology has able
to improve quality as well as quantity of production of various factories.
Robotics technology has also been reaching out to the side of entertainment
and education for people. Manipulator Robot or Arm Robotic is one of several
types of robot currently.
Manipulator Robot its classified to commercial industrial robots. All
commercial industrial robots have two physically separate basic elements
the manipulator arm and the controller [1]. Manipulator robot basic
architecture consists of digital servo controlled electrical motor driver on
serial link kinematic machines, usually with no more than six axes (Degrees of
Freedom). The combined effects of kinematic structure, axis drive mechanism
design, and real time motion control determine the major manipulation
performance characteristics: reach and dexterity, pay load, quickness, and
precision [1].
Now, usage of Industrial Manipulator Robot is over one million and have
top ten countries by robot density [2]. Japan record highest density for using
of industrial manipulator robot. Manipulator robot used at Automotive
Manufacture, Food and Drink Manufacture, Packaging Industry, laboratory,
and welding industry. Manipulator robot have several of servo motor. Servo
motor as driver system of manipulator robot. Servo motor controlled by servo
motor controller system. We use P.I.D (Proportional, Integral, and Derivative)
as controller method of servo motor. Aerotech A3200 Motion Controllers as
software to design the controller system for manipulator robot.
This research will discuss the design of a control system of servo motor in
Manipulator Robot used Aerotech A 3200 Motion Controller software and
Aerotech NServo Servo Controller Drive for get good performance of
Manipulator Robot and the servo controller system is smooth and rigid.
1.2 Problem Identification

The problem of using Manipulator robot if manipulator robot havent good

controller system. Thats system must be smooth and rigid, and if its not
manipulator robot must be dangerous for to be used. If we want make that
controller system be smooth and rigid, we must know how to setup gain gain
of servo parameters. For setup gain gain of servo parameters is using
Aerotech A3200 Motion Controllers and P.I.D for Controller method.
1.3 Objective of Research
The purpose of this research is how to design controlling manipulator
robot system using Aerotech A3200 Motion Controllers and NServo module.
Know how relationship among gear box with servo motor. Find out how to
setup gain gain of servo parameter (speed, torque, and peak current).
1.4 Scope of Research
This research is limited by several factors, including:
1. Optimization of servo parameters (speed, torque, and peak current)
2. Using P.I.D (Proportional, Integral, and Derivative) as Controller
Method
3. Using Aerotech A 3200 Motion Controllers as Software
4. Using Nservo Servo Controller as Drive Module
5. Using Aerotech Servo Motor BM Series as Servo Motor.
1.5 Methodology of Research
This research begins with Study literature, Specification Requirement,
Identification System, Design of Control System, System analysis,
Performance Testing, and Result. Figure 1.1 shows the step of the processes.
Start
Study Literature
Specification Requirement
Identification System

Design of Control System

System Analysis

No

Performance
Testing
Yes
Result

End
Figure 1.1 Framework of Research
1.6 Research Outline
The systematic writing of this research proposal are as follows:
CHAPTER I : INTRODUCTION
This chapter review the Background of Research, Problem
Identification, Objective of Research, Boundary of
Research, Methodology of Research, and Research
Outline.
CHAPTER II : LITERATURE REVIEW
This chapter reviews of Manipulator Robot, Servo Motor
Control System, Servo Parameters, PID Controller,
Aerotech A3200 Motion Controllers, Aerotech NServo
Module, Aerotech Servo Motor, Gear Box, and Software
Matlab Simulink.
CHAPTER III : RESEARCH METHODOLOGY
This chapter review the System Design, Hardware and
Software Implementation and Testing. The system will
test smooth and rigid, speed of motor servo.
CHAPTER IV : RESULT AND ANALYSIS

This chapter reviews implementation and analysis of

system. The implementation consist of Hardware, system
design test and parameter device. Testing consist of
identifying of specification.
CHAPTER V : CONCLUSION
This chapter review the conclusion and future works of
this research.

1.7 Identification System

Manipulator Robot System:

Servo Control System

1.8 System Design

Computer

Aerotech Servo Motor BM Series

Aerotech A3200 SMC

Aerotech NServo Drive

Manipulator Robot

1.9 Research Schedule

No.
1
2
3
4
5
6
7

Working Type

Year 2014
11
12

Year 2015
3
4

Literature
Review
Proposal
Designing
System
Designing
Control System
Analysis
System
Performance
Testing
Report and
Publication

REFERENCE
[1].Frank L.Lewis, Darren M.Dawson, Cahouki T.Abdallah, Robot
Manipulator Control Theory and Practice Marcel Dekker Inc, 2004.
[2]. http://www.ent.mrt.ac.lk/~rohan/teaching/EN3562/LectureNotes/Lec02%
20Manipulators.pdf, accesed on 23 january 2015
[3]. Aerotech Resource Guide of Motion and Positioning Control
Components and Systems, Aerotech Inc, 2007
[4]. J. Michael Jacob, Industrial Control Electronics Application and
Design Prentice Hall International Edition
[5].Katsuhiko Ogata, Modern Control Engineering, fifth edition, Prentice
Hall, 2010.
[6].Frederck F.Ling Servo Motors and Industrial Control Theory Springer,
2009
[7].Rza N.Jazar Theory of Applied Robotic kinematics, dynamics, and
control second edition, Springer, 2010