A lot of researches studies robot arms and the ability of controlling it to track targets
which depends on the type of motors used, DC motors or servo motors. In addition to
response time that DC and motor can give as a physical structure.
Robots
consists of number of junctions built of solid materials (robot arms(
connected together by motors and the total structure lets the robot to move, these robots
can be used in places that humans cannot act inside it or in places which we need a lot of
repeated actions.
This search aimes to study the robot arm movement by controlling the motors and its
response to a drawn line using a PID controller to achive the most accuracy by using the
distrubushion constants of the camera lens which used by the robot to see. All the cameras
need to be calibrated and the constants used to move the robot in X,Y,Z.
In this paper, the structure and
operation principle of BLDC motors are introduced, a simple mathematical model is figured,
a speed PI controller was designed, a simulation model to control 3-phase BLDC
motor speed in Matlab/Simulink was built, an
analytical study of the Speed, Current,
Electrical Torque, Back-Emf waveforms, during no load was done, the effect of adding
external load in different load torque values are studied. The effect of adding external
load torque during operation is studied also.
