Dynamic modelling and control design of seven degrees of freedom robotic arm
Abstract
In this paper kinematic and dynamic model or robot manipulator with 7 degrees of freedom is
given. Lagrange’s equations of second kind in the covariant form are obtained by applying
Rodriguez method, instead of regular Newton-Euler or Lagrange method. By implementing
inverse dynamics control, linear and decoupled system is obtained, after which classical PID
controller is introduced. In order to verify mathematical model is well derived, along with its
control system design, numerical simulation of given robot is presented, wherein trajectory
tracking problem is investigated.
Keywords:
robotic arm / modeling / control design / computed torque controlSource:
6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017, 2017, 1-8Publisher:
- Beograd : Srpsko društvo za mehaniku
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Intelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions (RS-MESTD-Technological Development (TD or TR)-33047)
- Energy efficiency Improvement of Hydro and Thermal power plants in EPS by development and implementation of power electronics based regulation and automation equipment (RS-MESTD-Technological Development (TD or TR)-33020)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo AU - Stokić, Zoran AU - Šekara, Tomislav PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4148 AB - In this paper kinematic and dynamic model or robot manipulator with 7 degrees of freedom is given. Lagrange’s equations of second kind in the covariant form are obtained by applying Rodriguez method, instead of regular Newton-Euler or Lagrange method. By implementing inverse dynamics control, linear and decoupled system is obtained, after which classical PID controller is introduced. In order to verify mathematical model is well derived, along with its control system design, numerical simulation of given robot is presented, wherein trajectory tracking problem is investigated. PB - Beograd : Srpsko društvo za mehaniku C3 - 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 T1 - Dynamic modelling and control design of seven degrees of freedom robotic arm EP - 8 SP - 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_4148 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Stokić, Zoran and Šekara, Tomislav", year = "2017", abstract = "In this paper kinematic and dynamic model or robot manipulator with 7 degrees of freedom is given. Lagrange’s equations of second kind in the covariant form are obtained by applying Rodriguez method, instead of regular Newton-Euler or Lagrange method. By implementing inverse dynamics control, linear and decoupled system is obtained, after which classical PID controller is introduced. In order to verify mathematical model is well derived, along with its control system design, numerical simulation of given robot is presented, wherein trajectory tracking problem is investigated.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017", title = "Dynamic modelling and control design of seven degrees of freedom robotic arm", pages = "8-1", url = "https://hdl.handle.net/21.15107/rcub_machinery_4148" }
Mandić, P., Lazarević, M., Stokić, Z.,& Šekara, T.. (2017). Dynamic modelling and control design of seven degrees of freedom robotic arm. in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 Beograd : Srpsko društvo za mehaniku., 1-8. https://hdl.handle.net/21.15107/rcub_machinery_4148
Mandić P, Lazarević M, Stokić Z, Šekara T. Dynamic modelling and control design of seven degrees of freedom robotic arm. in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-8. https://hdl.handle.net/21.15107/rcub_machinery_4148 .
Mandić, Petar, Lazarević, Mihailo, Stokić, Zoran, Šekara, Tomislav, "Dynamic modelling and control design of seven degrees of freedom robotic arm" in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-8, https://hdl.handle.net/21.15107/rcub_machinery_4148 .