Ripple reduction at speed and torque of step motors used on a two-axis robot arm

This paper presents the control of two axis robot arm. The system is consisted of two step motors, robot arm, computer and PIC16F84A. One of them controls the robot arm via parallel port of the computer. The other one controls end element on the arm by PIC16F84A. PIC16F84A drives the motor by the designed circuit drive. Although the control of the step motor is very easy, they work choppily. Therefore, it is necessary to reduce the ripples occurred at the speed and torque of the step motor. In this study, proportional–integral–derivative (PID) controller is used to reduce the ripples. The obtained results show the proposed method is very successful.