Professional Documents
Culture Documents
Abstract- This article presents a study of Three PID controller technique of a 2-Revelutejoint
robot. First we present Denavit-Hartenberg parameters for 2-R robot. Then we studied the
dynamics of the 2-R robot and derived the nonlinear equations of motion. A PID controller has
been implemented for three types of modeling technique: model based on linearization about
equilibrium point, model based on Autodesk Inventor and Matlab/Simulink softwares, and lastly
model based on feedback linearization of the robot. A comparison between the three controllers
is presented showing the effectiveness of each technique.
Keywords: robotics, 2-R robot, dynamic, modeling, simulation, control and PID.
GJRE-H Classification : FOR Code: 090602p
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.
I.
Introduction
Problem Formulation
2014
a) Robot Specifications
technique of a 2-Revelutejoint robot. First we present DenavitHartenberg parameters for 2-R robot. Then we studied the
dynamics of the 2-R robot and derived the nonlinear equations
of motion. A PID controller has been implemented for three
types of modeling technique: model based on linearization
about equilibrium point, model based on Autodesk Inventor
and Matlab/Simulink softwares, and lastly model based on
feedback linearization of the robot. A comparison between the
three controllers is presented showing the effectiveness of
each technique.
L1
L2
Robot Dynamics
III.
1=1sin1
1=1cos1
2=1cos1+2cos (1+2)
2014
Year
KE =
50
1
2
m1 v1 2 + 2 m2 v2 2 + 2 j1 1 2 + 2 j2 2 2
(1)
j
2 1
2
1
1 + j1 1 + 2
2
(3)
a) Equations of motion
(2)
L = KE PE
So, by Lagrange Dynamics, we form the
Lagrangian
2
2
1
1
1
= 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
(4)
m g(l sin (l sin( + ))
2
g2
m2 l1 lg2 cos(1 2 )
m2 l1 lg2 cos(1 2 ) 1
m2 l1 lg2 g sin(1 2 1 +
2
m2 lg2 + j2
2
2
M2
m2 lg2 g cos2
(5)
x1 = 1 x2 = 2 x3 = 1 x4 = 2
1 = 1 = x3 2 = 2 = x4 3 = 1 4 = 2
Rewrite the equation of motion using these
We define new variables in order to convert the
variables, and use new constants c1 to c6function of
2-R robot to an equivalent linear model.
robot specifications to make equations in simple form
M2
c2M2
c3
c
(6)
x 4 =
cos(x1 x2 ) + sin(x1 x2 ) x4 6 cos x2
IV.
c1
M2
c5
c5
cos2 (x1 x2 ) x3 = M1
c5
c2M2
c5
cos(x1 x2 )
c5
c2c3
c5
c5
cos(x1 x2 ) sin(x1 x2 ) x4 +
c 4 cos x1
x 1 = x3
x2 = x4
c2c6
c5
cos(x1 x2 ) cosx3
(7)
(8)
(9)
1 = 2 1 = 02 = 2 2 = 0
M2= 0
M1= 0
a) Linearized model
x2
=0
x2
x1
=0
x4
x2
=1
x4
c4c5
c 1 c 5 M 2
x 3
x 2
c2c6
c 1 c 5 M 2
x 3
x 3
=0
x 3
x 4
=0
c5
x4
c3
x4
= sin( x1 x2 )
=0
x4 c5
x4
x2
=0
M1
[C] = 1 00 0
0 10 0
[D] = 0 0
0 0
x2
=0
M2
c5
c2
x3
x4
x3
=
=
M1 c1 c5 M2 M2 c1 c5 M2 M1
=0
x4
M2
1 c2
c5
0
0
x1
0
10 x1
0
c
c
2 6
x
x
2 = c4 c5 c c M 01 2
x3
1
5
2
0
0
c c M
x3
2
c6 00 x
x4
1 5
4
0
c5
0
0
c2 M
0
1
c5
+
c c M c1 c5 M2 M2
1 5
2 1 c
2
c5
2014
x2
=0
x1
x1
=1
x3
0
0
10
0
0
01
A=
0.45680.619600
0.2485 6.617400
0
0
0
0
B=
0.7870 0.0426
0.0426 0.1349
Year
x1
=0
x2
51
1000 x1
x
Y=0100 2 + [0][D]
0010 x3
0001 x4
Year
2014
52
VI.
q = H1 [ C (q , q) g(q)] + M
= H 1 MAnd,
M
While:
M = H1 M
Year
M
M = H 1
2
M
pi
4
e1 = 1f 1 e2 = 2f 2
= K P1 (1f 1 ) + K D1 1 + K I1 (1f 1 ) dt
(10)
(Autodesk Inventor)
(Nonlinear model)
2014
= H1 M1
M
M2
Year
2014
VII.
54
Conclusion