Modeling analysis and simulation of 2-DOF robotic manipulator

Abstract

Robotics is a very active field that crosses the traditional boundaries of engineering. The field combines various engineering disciplines and merges numerous engineering applications. Robotics manipulators present a complex area of study related to kinematics, dynamics, computer vision and control. In this paper we present the mathematical model of a 2-DOF robotic arm using Denavit Hartenberg convention and the Langrangian equation of motion. The 2-DOF robotic arm is a highly dynamic nonlinear system that requires complex methods of control. In our paper we attempted to linearize the mathematical model around nominal equilibrium points we then utilized the linearized state space equations in the measurement of three qualitative analysis defined by stability, controllability and observability. According to the qualitative analysis results we designed two types of controllers; full state feedback controller and LQR in addition to a full order observer.