Dynamic Modeling and Simulation of Articulated Robotic Arm with MATLAB Robotics System Toolbox

Khin Soe Nwe , Wai Phyo Maung , Ei Ei Htwe

MATLAB Robotics System Toolbox, Euler-Lagrange, trajectory, Simulink, dynamic simulation.

In this paper, dynamic behavior of a six-axis robotics system for pick and place process through a defined trajectory using MATLAB Robotics System Toolbox is presented. Robotics System Toolbox™ provides algorithms and hardware connectivity for developing autonomous robotics applications for aerial and ground vehicles, manipulators, and humanoid robots. The Euler-Lagrange equations have several very important properties that can be exploited to design and analyze feedback control algorithms. Trajectory for pick place operation is generated by using this toolbox. Joint configurations for a desired end-effector pose is calculated using Rigid body tree kinematics Simulink block. Dynamic simulations are carried out on the model to examine the properties such as torque variation at the joints and trajectory of the manipulator. According to the simulation result, the manipulator has expected response similar to physical model. The maximum joint toque required about 3 Nm and the minimum joint torque required about 0.04 Nm at the articulated robotic arm.

Published Paper   E-Certificate

"Dynamic Modeling and Simulation of Articulated Robotic Arm with MATLAB Robotics System Toolbox", IJSDR - International Journal of Scientific Development and Research (www.IJSDR.org), ISSN:2455-2631, Vol.3, Issue 11, page no.67 - 72, November-2018, Available :https://ijsdr.org/papers/IJSDR1811012.pdf

Volume 3 Issue 11, November-2018

Pages : 67 - 72

Paper Reg. ID: IJSDR_180750

Published Paper Id: IJSDR1811012

Downloads: 000347273

Research Area: Engineering

Country: Mandalay, Mandalay, Myanmar

Published Paper PDF: https://ijsdr.org/papers/IJSDR1811012

Published Paper URL: https://ijsdr.org/viewpaperforall?paper=IJSDR1811012

ISSN: 2455-2631 | IMPACT FACTOR: 9.15 Calculated By Google Scholar | ESTD YEAR: 2016

An International Scholarly Open Access Journal, Peer-Reviewed, Refereed Journal Impact Factor 9.15 Calculate by Google Scholar and Semantic Scholar | AI-Powered Research Tool, Multidisciplinary, Monthly, Multilanguage Journal Indexing in All Major Database & Metadata, Citation Generator

Publisher: IJSDR(IJ Publication) Janvi Wave

This work is licensed under a Creative Commons Attribution 4.0 International License and The Open Definition