Multi-Prismatic
Robotic System.
Dynamic modeling and indirect force control of a multi-prismatic robotic system using compliance and impedance strategies, with an interactive MATLAB interface for simulation and analysis.
Controlling motion
while interacting with forces.
A robotic system must account for its dynamics and the forces generated during interaction, not only the position of its joints.
This project investigated the dynamic modeling and control of a multi-prismatic robotic system. The work involved deriving governing equations, analyzing the relationship between joint variables, positions, and end-effector forces, and implementing indirect force control strategies in MATLAB.
Compliance and impedance control were studied as approaches for regulating the system's response to external forces. An interactive MATLAB GUI was developed to allow parameters to be adjusted and control modules to be executed and visualized.
From a dynamic model
to controlled behavior.
The project connects the mathematical model of the robotic system with control strategies and an interactive simulation interface. The governing equations provide the basis for evaluating the response to commanded motion and external forces.
Prismatic Robot
Joint variables, geometry, and physical parameters.
Dynamics
Governing equations and relationships between motion and force.
Force Strategies
Compliance and impedance-based control modules.
MATLAB GUI
Parameter tuning, execution, and response visualization.
Establishing the
system equations.
The mathematical modeling stage established the relationships between the prismatic joint variables, their positions and velocities, and the forces acting on the robotic system. The governing equations were derived to describe system behavior and provide a basis for the subsequent control analysis.
System Geometry
Defined the prismatic joint configuration and the relationships between joint displacement and system position.
Governing Equations
Derived equations describing the dynamic behavior of the robotic system and its response to applied forces.
Force Relationships
Analyzed the relationship between joint variables, end-effector motion, and interaction forces.
Regulating response
to external interaction.
Compliance control was investigated as an indirect force-control strategy. Rather than commanding interaction force independently of motion, the approach relates the system's displacement to the forces it experiences, allowing the response to be adjusted through compliance parameters.
Desired Behavior
Define the commanded motion or reference condition for the robotic system.
External Force
Account for the influence of external forces on the system's motion and response.
Compliance Adjustment
Evaluate the resulting displacement and force behavior under the selected compliance parameters.
The MATLAB implementation allowed the effect of parameter changes to be examined through simulated motion and force responses. This provided a way to study how compliance influences interaction behavior under different operating conditions.
Shaping the relationship
between motion and force.
Impedance control was implemented as another indirect force-control approach. The strategy defines a desired dynamic relationship between position deviation and interaction force, allowing the system's behavior to be shaped through adjustable parameters.
The equation above illustrates the general impedance-control concept. The exact equations and sign conventions used in the project are documented in the project report. The simulation framework was used to observe how changes in control parameters affected the motion and force response.
Inertia
Influences the dynamic response associated with acceleration and changes in motion.
Damping
Influences the rate at which motion is dissipated and oscillatory behavior is reduced.
Stiffness
Influences the relationship between displacement error and the restoring response.
Making the model
interactive.
A MATLAB graphical user interface was developed to integrate the modeling and control modules. The interface allowed users to adjust relevant parameters, execute simulations, and inspect the resulting system behavior without modifying the underlying scripts for every experiment.
Parameter Tuning
Modify system and controller parameters through the interface.
Module Execution
Run the modeling and control routines using the selected settings.
Response Analysis
Visualize and compare the resulting motion and force behavior.
Evaluating the
control response.
The project produced a mathematical model and MATLAB simulation framework for studying multi-prismatic robot dynamics and indirect force control. The GUI enabled parameter changes and execution of the control modules, allowing the resulting trajectories and forces to be examined under different simulation conditions.
Dynamic Model
Derived the governing equations and analyzed relationships between joint motion and end-effector forces.
Control Strategies
Implemented compliance and impedance control modules for evaluating indirect force-control behavior.
Interactive GUI
Developed a MATLAB interface for parameter tuning, simulation execution, and response visualization.
Explore the
implementation.
The source repository and project report contain the MATLAB implementation, detailed derivations, and additional results.
Have a robotics
challenge in mind?
I'm interested in opportunities involving autonomous systems, robotics software, controls, simulation, and real-world deployment. If you're building something ambitious, I'd be glad to connect.
dheerajcnv@gmail.com