Dynamic modelling and control design of seven degrees of freedom robotic arm
Apstrakt
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.
Ključne reči:
robotic arm / modeling / control design / computed torque controlIzvor:
6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017, 2017, 1-8Izdavač:
- Beograd : Srpsko društvo za mehaniku
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Inteligentni sistemi upravljanja klimatizacije u cilju postizanja energetski efikasnih režima u složenim uslovima eksploatacije (RS-MESTD-Technological Development (TD or TR)-33047)
- Povećanje energetske efikasnosti HE i TE EPS-a razvojem tehnologije i uređaja energetske elektronike za regulaciju i automatizaciju (RS-MESTD-Technological Development (TD or TR)-33020)
Kolekcije
Institucija/grupa
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 .