Modeling, Simulation and Control of a Robotic Arm

Abstract

the precise control upon each degree of freedom of a robotic arm is a great challenge in implementing industrial work. To simplify mechatronics motion control systems design, this paper proposes mathematical modeling, simulation and control of a given electric motor in terms of input volt, Vin and output motions. The proposed model can be used to select, design, test and validate both plant's and motion control design to meet desired output performance. It presents a basic example of PID control applied to a robotic manipulator arm.