Modeling and computed torque control of a 6 degree of freedom robotic arm

Ullah, Muhammad Imran; Ajwad, Syed Ali; Islam, Raza Ul; Iqbal, Usarna; Iqbal, Jamshed

Abstract

This paper presents modelling and control design of ED 7220C - a vertical articulated serial arm having 5 revolute joints with 6 Degree Of Freedom. Both the direct and inverse kinematic models have been developed. For analysis of forces and to facilitate the controller design, svstem dvnamics have been formulated. A non-linear control technique, Computed Torque Control (CTC) has been presented. The algorithm, implemented in MATLAB/Simulink, utilizes the derived dynamics as well as linear control techniques. Simulation results dearly demonstrate the efficacy of the presented approach in terms of traiectory tracking Various responses of the arm joints have been recorded to characterize the performance of the control algorithm. The research finds its applications in simulation of advance nonlinear and robust control techniques as well as their implementation on the physical platform. © 2014 IEEE.

Citation

Ullah, M. I., Ajwad, S. A., Islam, R. U., Iqbal, U., & Iqbal, J. (2014, April). Modeling and computed torque control of a 6 degree of freedom robotic arm. Presented at 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE), Islamabad, Pakistan

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)
• Start Date: Apr 22, 2014
• End Date: Apr 24, 2014
• Acceptance Date: Mar 1, 2014
• Publication Date: Jun 12, 2014
• Deposit Date: Sep 15, 2021
• Publicly Available Date: Apr 28, 2022
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 133-138
• Book Title: 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)
• ISBN: 9781479951321
• DOI: https://doi.org/10.1109/iCREATE.2014.6828353
• Public URL: https://hull-repository.worktribe.com/output/3797164
• Publisher URL: https://ieeexplore.ieee.org/document/6828353