DYNAMIC MODELING AND COMPUTED TORQUE CONTROL OF A 5-DOF MANIPULATOR ROBOT CONSIDERING FRICTION

Document Type : Original Article

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Production Technology Department, Faculty of Technology and Education, Helwan University, Cairo, Egypt.

Abstract

This paper presents the methodology used to model, simulate, and control a five-degree-of-freedom robot manipulator using the Computed Torque Control (CTC) technique. It formulates the basic control equations for model-based control strategies. The robot dynamics are analyzed and obtained by modeling the manipulator using SolidWorks and then exporting the CAD files to the MATLAB/SimMechanics environment to generate the block diagram of the multi-body system. The system motion equation is obtained through the dynamic Lagrange-Euler equation, which depends on the system's kinetic energy and potential energy considering friction. Then, a manipulator controller is designed to control the end-effector position's task space, and CTC is used with linear PD and PID controllers with feedback. The simulation results show that PD-CTC is effective and significantly superior to PID-CTC in achieving the required response of joint position, angular velocity, angular acceleration, and torque to achieve the required end-effector position, velocity, and acceleration. This study provides valuable insights to researchers on how to easily create dynamic equations for control and simulation, and evaluate and modify the system before implementing the prototype.

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