Volume 4, Issue 2, September 2017, Pages 138 - 141
Dynamic Model and Motion Control of a Robotic Manipulator
Jinho Kim, Kevin Chang, Brian Schwarz, Andrew S. Lee, S. Andrew Gadsden, Mohammad Al-Shabi
Available Online 1 September 2017.
- https://doi.org/10.2991/jrnal.2017.4.2.7How to use a DOI?
- Three-link robotic manipulator, RRR robot manipulator, Motion capture, PD controller.
- This paper presents the dynamic modeling and motion control of a three-link rotary robotic manipulator, also known as an RRR robot. The Kinect motion capture system by Microsoft is used in conjunction with the manipulator. A camera is used to capture the motion of a user’s arm and tracks certain angles made by parts of the arm. We consider a pinhole camera model to generate reference angles in our simulations. These desired angles are fed into the controller and are used by the RRR robot in an effort to copy the movement of the user. A proportionalderivative (PD) controller is developed and applied to the manipulator for improved trajectory tracking. The RRR robot is dynamically modeled and the results of the proposed control strategy demonstrate good trajectory following. Researchers can implement this system as a relatively inexpensive starting point for their activities.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - JOUR AU - Jinho Kim AU - Kevin Chang AU - Brian Schwarz AU - Andrew S. Lee AU - S. Andrew Gadsden AU - Mohammad Al-Shabi PY - 2017 DA - 2017/09/01 TI - Dynamic Model and Motion Control of a Robotic Manipulator JO - Journal of Robotics, Networking and Artificial Life SP - 138 EP - 141 VL - 4 IS - 2 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.2017.4.2.7 DO - https://doi.org/10.2991/jrnal.2017.4.2.7 ID - Kim2017 ER -