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5 Modeling Simulation and Control PDF
5 Modeling Simulation and Control PDF
5 Modeling Simulation and Control PDF
ModelingSimulationandControlof2RRobot
2014. Aalim M. Mustafa & A AL-SAIF. This is a research/review paper, distributed under the terms of the Creative Commons
Attribution-Noncommercial 3.0 Unported License http://creativecommons.org/licenses/by-nc/3.0/), permitting all non commercial
use, distribution, and reproduction inany medium, provided the original work is properly cited.
Modeling, Simulation and Control of 2-R Robot
Aalim M. Mustafa & A AL-SAIF
Abstract- This article presents a study of Three PID controller along a desired trajectory (Sukvichai, 2008). The
technique of a 2-Revelutejoint robot. First we present Denavit- simplest which we used in this paper to control the robot
Hartenberg parameters for 2-R robot. Then we studied the arm is the PID controller.
dynamics of the 2-R robot and derived the nonlinear equations
of motion. A PID controller has been implemented for three II. Problem Formulation
types of modeling technique: model based on linearization
about equilibrium point, model based on Autodesk Inventor a) Robot Specifications
2014
and Matlab/Simulink softwares, and lastly model based on Consider the two joint sticks robot shown in
feedback linearization of the robot. A comparison between the figure (1) with the following specifications in Oxy
Year
three controllers is presented showing the effectiveness of
coordinates:
each technique.
Keywords: robotics, 2-R robot, dynamic, modeling, L1 = 1 m is the length of link 1
49
simulation, control and PID. L2= 1 m is the length link 2
R
obotics is the science that deals with robots m2 = 1 kg is the mass of link 2
design, modeling and controlling. Nowadays
1 Is the rotation angle of joint 1
robots are used everywhere in everyday life. It has
accompanied people in most of industry and daily life 2 Is the rotation angle of joint 2
jobs. (Gouasmi, Ouali, Fernini, & Meghatria, 2012).
Lc1 =Lc2= 0.5 m is the distance to the half of the link.
The range of robot utilization is very wide. A
large family of robots is used in industry and
manufacturing. Robots are used in supplying the motion
required in manufacturing processes such as pick and
place, assembly, painting, milling, cutting, welding,
drilling, etc.
Because of different types of tasks different
manipulator configurations are available such as
rectangular, cylindrical, spherical, revolute and
horizontal jointed (Gouasmi et al., 2012).
A two revolute joint robot configuration with two
degrees of freedom is generally wellsuited for small
parts insertion and assembly, like electronic
components. Although the final goal is to design and
manufacture real robotics, it is very useful to perform
simulations prior to investigations with real robots. Fig. 1 : Two- joint 2-R Robot (N.Jazar, 2010)
Simulations are easier to setup, less expensive, faster
and more convenient to use. it allows better design b) Robot Kinematics
exploration and helps you enhance your final real robot If we assigned the joints axes based on the
by selecting suitable parameters for the system you Denavit Hartenberg representation, The (D-H)
want to design (lajpah, 2008). parameters for the 2-R robot will be defined as in the
There are many control techniques used to table below.
control a robot arm. The most used ones are the PID Table 1 : D-H parameters of 2-R Robot
control, optimal control, adaptive control and robust
control. There are many kinds of controllers that can Frame No.
be used to cause a designed robot arm to move 1 L1 0 0 1
2 L2 0 0 2
Author : Mechanical Engineering department at King Fahd University
of Petroleum and Minerals (KFUPM) Saudi Arabia.
e-mail: Aalim.motasim@hotmail.com The initial position (at t = 0) from the
Author : System Engineering department at King Fahd University of homogeneous transformation matrix where 1 = 0 2 =
Petroleum and Minerals (KFUPM) Saudi Arabia. 0 are shown in figure (2).
1 1 1 1
KE = 2
m1 v1 2 + 2 m2 v2 2 + 2 j1 1 2 + 2 j2 2 2 (1)
Year
50
Fig. 2 : Home position of 2-R Robot
Global Journal of Researches in Engineering ( H ) Volume XIV Issue I Version I
a) Equations of motion L = KE PE
The Lagrangian of a dynamic system is defined So, by Lagrange Dynamics, we form the
as the difference between the kinetic and potential Lagrangian
energy at an arbitrary instant (N.Jazar, 2010).
1 2 1 1 2
= l2g1 1 + 2 m2 l12 1 + 2l1 lg2 1 1 + 2 cos 2 + l2g2 1 + 2 + 2 j1 1 + 2 j2 1 + 2 m1 glg1 sin1
m g(l sin (l sin( + )) (4)
2 1 1 g2 1 2
2014
x1 x2 x3 x4 0 0
B=
Linearization of the variable x1 with respect to 0.7870 0.0426
Year
0.0426 0.1349
other variables:
x2 x2 x2 x2 [C] = 1 00 0 51
=0 =0 =0 =1 0 10 0
x1 x2 x3 x4
x4 1 c2
=0 =
M2 c5
= H1 M1
2014
M
M2
Year
However, the physical torque inputs to the
system are:
M 53
Fig. 8 : 2-R Robot simulation in Simulink M = H 1
2
M
Fig. 9 : Dynamic response of link_1 Applying equations (10) and (11) we got results
(Autodesk Inventor) shown below in figures (11) to (14).