Dynamic Modeling of Three Links Robot Manipulator (Open Chain) with Spherical Wrist

Hassan Mohammad Alwan; Zaid Hikmat Rashid

doi:10.29194/NJES.22010001

Dynamic Modeling of Three Links Robot Manipulator (Open Chain) with Spherical Wrist

Authors

Hassan Mohammad Alwan Mechanical Engineering Department, University of Technology, Baghdad-Iraq.
Zaid Hikmat Rashid Mechanical Techniques Department, Al-Mussaib Technical Institute, ATU, Babylon-Iraq.

DOI:

https://doi.org/10.29194/NJES.22010001

Keywords:

Dynamic, Forward Kinematic, Jacobian, Manipulator, Response, Solid Works

Abstract

Dynamic modeling of a robot manipulator is a central problem in an accurate robot control. In this paper; the dynamic equations of motion were derived by using Eular-Lagrange method for a six degree of freedom articulated robot manipulator based on the geometrical jacobian construction for each link and actuator. In addition, friction effects beside the end effector forces that act the environment are considered. A Matlab Simulink plant is developed to embrace the theoretical work and simulate the dynamic response for a designed nonlinear controller Proportional Derivative plus Gravity (PD+G), also a modified controller is applied to reject the disturbances and the internal friction effect where the settling errors were 3.57E-6, 2.09E-7, -3.63E-6, 8.84E-6, -5.39E-8 and -4.39E-5 (deg) for joints one to six respectively. The presented approach can be applicable to solve the dynamic problem of other n-link robot manipulators and achieve a suitable solution for tracking trajectories.

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Published

24-03-2019

Issue

Vol. 22 No. 1 (2019): Al-Nahrain Journal for Engineering Sciences

Section

Articles

License

The authors retain the copyright of their manuscript by submitting the work to this journal, and all open access articles are distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International (CC-BY-NC 4.0), which permits use for any non-commercial purpose, distribution, and reproduction in any medium, provided that the original work is properly cited.

How to Cite

[1]

H. M. Alwan and Z. H. Rashid, “Dynamic Modeling of Three Links Robot Manipulator (Open Chain) with Spherical Wrist”, NJES, vol. 22, no. 1, pp. 1–8, Mar. 2019, doi: 10.29194/NJES.22010001.