3DOFRobotarm

The dynamics and control of a 3DOF robotic arm is presented. The robotic arm has 3 degrees of freedom and the Denavit-Hartenberg(DH) convention has been used to represent the link relationships to set up the forward and inverse kinematics of the manipulator. Lagrange's approach has been followed to establish the governing equations of motion. The trajectory of the robot has been constructed for the pick and place application discussed. Regulation control is implemented to check if the robot can hold its position. PD control techniques are implemented to track the desired trajectory. Robustness of the PD controller is demonstrated and a real time parameter updation technique is demonstrated using an adaptive controller to account for uncertainty in mass of the payload. A brief description of all the files are given below. Coding has been done on MATLAB. DH.m - Function file for Forward kinematics(Fkine.m). Coputes the composite transformation matrix of one link with resect to the prevous link. Invk.m - Solves for the joint angles given a composite tranformation matrix. Computes all possible solutions. Some solutions cannot practically work as it might lead to singularities. EOM files - Function files for the Controllers. EOM1 is for computed torque, EOM2 is for modified computed torque and EOM3 is for adaptive control. The mathematical and theoretical background for the controllers can be found in the report attached.