Dynamic Analysis of Two-Link Robot Manipulator for Control Design

摘要

Robot manipulators have become a major component in the manufacturing sectors which are utilized in several applications such as grinding, welding, assembling, and mechanical handling due to quite efficient accuracy, speed, and repeatability. These applications require proper path planning, proper generation of trajectory, and most importantly a control design. This work deals with the problem of modeling and control of a two-link robot manipulator which is a classical and simple example of robot followed in understanding the fundamentals of robotic manipulator. Since, the closed form solutions are not available so we use numerical solution. Due to these uncertainties and nonlinear behavior, it is a very difficult task to control the motion of the robotic arm at the accurate position. Here, we are focused on designing and implementation of PID controller to control the motion of the robot arm. MATLAB has been used to carry out simulation after derivation of necessary equations.