Implementation and Analysis of Motion Control Techniques on an Industrial 7 DOF Robotic Manipulator

摘要

With the quest for modernization in robotics motion control of robot manipulators is an area of active research. In motion control, inverse trajectory application is the most adopted solution which is further improved by considering the effect of external forces of the environment. The impact of external force involves dynamic modelling of the system and force control, impedance control, and admittance control techniques are adopted for the solution. This research implements the simulation and more precise visualization of the real-life manipulator under the rules of kinematics and dynamics on a 7 Degree of Freedom manipulator. The objective of this research is to implement motion control techniques: Forward Kinematics, Inverse kinematics, and Trajectory tracking using MATLAB Robotic System Toolbox and analyze the results obtained. These simulations can an effective tools for tuning the motion of robotics by varying the control parameter in simulation and then implementing them in physical hardware.