Simulating the arm movements of a stepper motor controlled pick - and - place robot using the stepper motor model

This paper describes the simulation of arm movements of a stepper motor controlled pick-and-place robot using the mathematical model of a stepper motor. The model includes: a) a model of the stepper model driver board, b) a model of the hybrid stepper motor and load combination, and c) the interconnection of the two models which is used to simulate the motions of the base, shoulder, elbow, and wrist (pitch) motions of the pick-and-place robot. The model is simulated using Simulink and the results of angular displacement from the simulation and actual measurements show good uniformity.