Modeling simulation and design of an educational robot advanced controller

Abstract

In this paper, the very popular five degrees of mobility articulated educational robotic arm is considered. In order to implement advanced control algorithms like adaptive, optimal or intelligent, the classical teach-in and playback control cannot be used. For this reason, the first approach is to determine the direct and inverse cinematic models, using precise and rigorous mathematical model. Second, these models are validated using the MatLab-Simulink simulation environment. Based on the simulation results, there is designed an advanced software controller and implemented on educational robot.