Dynamic Modeling and Control of Prismatic Robotic Arm using MATLAB

This project aids in performing an in-depth analysis of the dynamic nature and control systems of a robotic system consisting of n- prismatic joints. Coding is performed using MATLAB to derive the governing equations of motion for a n-prismatic link robotic system. The dynamic nature of the robotic system is analyzed by plotting q, q_dot, q_ddot as a function of time. The robotic system is subjected to indirect force control under compliance and impedance control. The corresponding plots of the end effector positions as well as forces acting on them are made using MATLAB. A user-friendly graphic user interface (GUI) is built, enabling dynamic and easy handling of the codes associated with the prismatic joints of a robotic system. It enables the user to change joint variables and observe real-time changes in the system.

Result

With the input parameters inputted by the user (includes, Number of Links, DH Parameters, mass of link, mass of motor, inertia of motor, inertia of link, Gear ratio of motor, Proportional Gain for Impedance and its derivative, Proportional Gain for Compliance and its derivative, and environmental stiffness for Impedance and Compliance) through the GUI implemented through the AppDesigner Platform, we were able to create the Equation of motion ( Using the Jacobians of the links and motor, Inertial effect, Centrifugal Coriolis effects, gravity effect, and generalized torque effects). Additionally, we were able to simulate the system dynamics, impedance control, and compliance control with their corresponding plots.