DYNAMIC MODELING AND CONTROL OF THREE DEGREE OF FREEDOM ROBOTIC ARM

Abstract

In this report, a dynamic model for the three degrees of freedom planar manipulator and control has been developed. Although the robot dynamics are highly coupled and non-linear, the developed model is relatively straightforward and compact for control engineering and simulation applications. The model has been simulated using the graphical simulation package SIMULINK. Different aspects of manipulator associated with inverse dynamics and future aspects have been investigated by performing various simulation experiments. These simulation experiments confirm the accuracy and relevance of the dynamic robot model. The dynamic behavior of the manipulator provides relationship between joint actuator torques and motion of links for simulation and design of control algorithms. The manipulator control maintains the dynamic response of the manipulator to obtain the desired performance, which directly depends on the accuracy of the dynamic model and efficiency of the control algorithms.