Modern control laws for an articulated robotic arm: Modeling and simulation

Iqbal, Jamshed

Abstract

The robotic manipulator has become an integral component of modern industrial automation. The current paper deals with the mathematical modeling and non-linear control of this manipulator. DH-parameters are used to derive kinematic model while the dynamics is based on Euler-Lagrange equation. Two modern control strategies, H∞ and model predictive control (MPC), are investigated to develop the control laws. For an optimal performance, the controllers have been fine-tuned through a simulation conducted in MATLAB/Simulink environment. The designed control laws are subjected to various inputs and tested for effectiveness in transient parameters like settling time and overshoot as well as steady state error. Simulation results confirm the effectiveness of the developed controllers by precisely tracking the reference motion trajectories.

Citation

Iqbal, J. (2019). Modern control laws for an articulated robotic arm: Modeling and simulation. Engineering, Technology and Applied Science Research, 9(2), 4057-4061. https://doi.org/10.48084/etasr.2598

• Journal Article Type: Article
• Acceptance Date: Mar 1, 2019
• Online Publication Date: Apr 1, 2019
• Publication Date: Apr 1, 2019
• Deposit Date: Sep 15, 2021
• Publicly Available Date: Oct 14, 2021
• Journal: Engineering, Technology and Applied Science Research
• Print ISSN: 2241-4487
• Electronic ISSN: 1792-8036
• Peer Reviewed: Peer Reviewed
• Volume: 9
• Issue: 2
• Pages: 4057-4061
• Series ISSN: 1792-8036
• DOI: https://doi.org/10.48084/etasr.2598
• Public URL: https://hull-repository.worktribe.com/output/3839693
• Publisher URL: https://etasr.com/index.php/ETASR/article/view/2598