Dynamics Analysis and Control of a Two-Link Manipulator

Abstract

This article develops a practicable, efficient, and robust PID controller for the traditional double pendulum system. Utilizing the Lagrangian method, the equations of motion for the two-link robot manipulator are initially derived. The system of ordinary differential equations for this nonlinearity describes these equations. As closed-form solutions for the equations of motion are absent, we approximate the solution of the initial-value problem. Securing precise user-defined positions while controlling the motion of the two-link robot manipulator proves to be a formidable challenge due to its non-linear behavior. The primary objective is to achieve the intended position of the robot manipulator by implementing the computed torque control method. Once the equation of motion has been derived, MATLAB is utilized to represent the control simulation. Several computational simulations are employed to validate the controller performance. Specifically, we implement a PID controller to simulate the balancing of the two links on a mobile robot at any given angle, including inverted.