Dynamic Model and Motion Control of a Robotic Manipulator

DOI

10.2991/jrnal.2017.4.2.7How to use a DOI?

Keywords

Three-link robotic manipulator, RRR robot manipulator, Motion capture, PD controller.

Abstract

This paper presents the dynamic modeling and motion control of a three-link rotary robotic manipulator, also known as an RRR robot. The Kinect motion capture system by Microsoft is used in conjunction with the manipulator. A camera is used to capture the motion of a user’s arm and tracks certain angles made by parts of the arm. We consider a pinhole camera model to generate reference angles in our simulations. These desired angles are fed into the controller and are used by the RRR robot in an effort to copy the movement of the user. A proportionalderivative (PD) controller is developed and applied to the manipulator for improved trajectory tracking. The RRR robot is dynamically modeled and the results of the proposed control strategy demonstrate good trajectory following. Researchers can implement this system as a relatively inexpensive starting point for their activities.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Jinho Kim
AU  - Kevin Chang
AU  - Brian Schwarz
AU  - Andrew S. Lee
AU  - S. Andrew Gadsden
AU  - Mohammad Al-Shabi
PY  - 2017
DA  - 2017/09/01
TI  - Dynamic Model and Motion Control of a Robotic Manipulator
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 138
EP  - 141
VL  - 4
IS  - 2
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2017.4.2.7
DO  - 10.2991/jrnal.2017.4.2.7
ID  - Kim2017
ER  -