Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm

Abstract

Accurate and precise control of a robotic arm involves two main issues. The first issue is to calculate the desired angular displacements of the robotic arm joints based on the desired position (in the Euclidian space) of the tip (or gripper) of the arm. The second issue is the design of an efficient and effective control law to achieve the desired angular displacements. This paper attempts to resolve both of the issues for a 2DOF robotic arm by using Inverse Kinematics and linear control law designs. In particular, Inverse Kinematics equations have been implemented on a commercial off the shelf robotic arm in order to calculate the desired angular displacements of the arm-joints. In order to achieve the desired angular displacement, various linear control laws have been designed using the robotic arm joint model. The performance of the designed control laws has been analyzed and compared. A comparison of the control torque required to achieve the performance of each control law is also presented.