ROBOTIC MANIPULATOR MODEL AND CONTROL ESTIMATION

• Owojori, A.O.

  Federal University of Technology PMB 704, Akure, Ondo State, Nigeria

Mimicking the human arm functions in handling pick and place tasks within precise path or trajectory in a designed space has introduced the concept of arm manipulator robot control estimation. The system design involves an arm manipulator mounted on a fixed-base platform whose dynamics mathematical modelling is carried out on MATLAB/ Simulink software. Deploying the link kinematic model or Denavit-Hartenberg (DH) model followed by the Lagrangian equation to express the joint dynamics, a relatively precise mathematical model is obtained to address issues of geometrical configuration. MATLAB/ Simulink also allows the introduction of control actuators at different joints of the robot (three (3) servo motors in the arm manipulator). The control performance was estimated based on the joint angles of the arm manipulator system with respect to their torque inputs. A stable system response was obtained with settling time of 0.5 sec and Proportional-Integral-Derivative (PID) coefficients (?₁: K_p=1.1772,K_i=9.318, K_d=0.03718; ?₂: K_p=0.20862,K_i=0.911,K_d=0.0066; ?₃: K_p=1.1772,K_i=9.318,K_d=0.0372) for the arm joints.

1. Owojori, A.O., Federal University of Technology PMB 704, Akure, Ondo State, Nigeria

   Department of Electrical and Electronics Engineering 

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