Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

Abstract

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

Performance Analysis of 4-DOF RPRR Robot Manipulator Actuation Strategy for Pick and Place Application in Healthcare Environment

“…Algebraic method utilizes algebraic equation to find joint angles from specified end-effector position in Cartesian space. However, this method is relatively slow and inadequate for a higher DOF robot and does not guarantee closed form solution [13], [14]. Geometrical approach uses theory of geometric algebra to represent rotation and orientation; this method is suitable for serial link manipulator.…”