Özet:

Health and biomedical device technologies are among the most important issues of today. With the developments in technology in recent years, studies on the development of micro and macro-scale robotic systems such as drug dosing, cell and DNA sequencing, imaging and regional intervention systems have become more important. In this study, a single-degree-of-freedom robotic arm mechanism (pendulum) that can be directly controlled by a magnetic field is proposed to be used in small-scale systems for object handling, position manipulation, etc. The electrical and mechanical equations governing the system are obtained and a PID controller is designed. It is found that the controller parameters cannot be determined by Ziegler-Nichols methods due to the chaotic behavior of the magnetic forces. PID controller parameters were obtained by optimization using iterative methods. The best results were obtained after 7 iterations with -0.1788 overshoot, 0.1634 settling time and 0.0298 mean square error. The PID parameters obtained are kp=5.353, kd=0.2157 and ki=21.5987. The controller behavior for different reference inputs (step, triangular and sinusoidal) was investigated. Errors in the system, controller voltage output and currents in the circuit are visualized and presented. It is observed that position control can be performed in the proposed pendulum model with 20A current.

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