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.