Dynamic Modeling and Control of a Multi-Prismatic Robotics Arm
Objective: Develop a MATLAB-based multi-prismatic link robotic arm and implement indirect force control using compliance and impedance strategies for dynamic modeling, visualization, and interactive experimentation.
1. System Modeling
- Formulated governing equations of motion for the multi-prismatic robotic system.
- Defined joint-space variables and derived kinematic and dynamic relationships for end-effector motion.
- Validated the model by simulating joint trajectories and comparing force/position responses.
2. Control Implementation
- Implemented indirect force control under both compliance control and impedance control.
- Designed controllers to regulate interaction forces and system compliance in constrained environments.
- Simulated the system to analyze real-time responses to external inputs and disturbances.
3. MATLAB GUI for Real-Time Tuning
- Built a custom MATLAB GUI to allow parameter tuning during runtime.
- Enabled execution of different control logic modules with adjustable system parameters.
- Provided real-time visualization of joint variables, end-effector trajectories, and force responses.
4. Results & Insights
- System dynamics successfully captured through joint and end-effector simulations.
- Compliance and impedance strategies demonstrated effective force regulation under external disturbances.
- The GUI enhanced usability, enabling interactive control experiments and rapid testing of system variations.