Robot manipulator modeling in Matlab-SimMechanics with PD control and online gravity compensation
Published: Oct 1, 2010
Abstract
The objective of this article is to present a method to model the mechanics of robot manipulators. A complete description of the procedure to model and control a two-link planar robot arm is detailed and simulated using Matlab/Simulink from the generation of a mechanical model in SimMechanics Toolbox. One of the simplest position controllers for robot manipulators is the PD control with desired gravity compensation. The implementation of this...
Paper Details
Title
Robot manipulator modeling in Matlab-SimMechanics with PD control and online gravity compensation
Published Date
Oct 1, 2010
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