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Kinematic, dynamic modeling and design of A P-D controller for a four-degree-of-freedom robot

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Title: Kinematic, dynamic modeling and design of A P-D controller for a four-degree-of-freedom robot

Authors: Juan Gabriel Jimenez Perdomo, Oscar Andres Otalora Castro, Jorge Luis Aroca Trujillo, Ruthber Rodriguez Serrezuela

Journal: ARPN Journal of Engineering and Applied Sciences

HEC Recognition History
Category From To
Y 2023-07-01 2024-09-30
Y 2022-07-01 2023-06-30
Y 2021-07-01 2022-06-30
X 2020-07-01 2021-06-30

Publisher: Khyber Medical College, Peshawar

Country: Pakistan

Year: 2019

Volume: 14

Issue: 5

Language: English

Keywords: RobotDynamic modelingkinematicP-D controller

Categories
Robotics (1073) Control Engineering (432) Mechanical Engineering (4477) Kinematics (21) Dynamics (39)

Abstract

In this work the kinematic and dynamic modeling of an industrial robot with four degrees of freedom is obtained. The kinematic model is found and validated through the Matlab software. For the design of the controller, a proportional and derivative feedback (P-D) is selected to determine the control signal, generating a linear PD driver feedback linearization type using Matlab / Simulink. The main current bibliographical references for the kinematic and dynamic analysis of industrial robots are taken into account for this work.

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