Kinematics, Dynamics and Control Design for a 4-DOF Robotic Manipulator

摘要

This paper presents the problems of kinematics, dynamics, and design of the precise position controller for a 4-DOF robotic manipulator. First, the forward kinematic and the inverse kinematic are addressed based on the convention of Denavit - Hartenberg (DH) theory. Second, the dynamics are analyzed by the general Euler-Lagrange equation and the formula of the Coriolis/ Centrifuge matrix. Third, the two control laws of precisely the end-effector position proposed as PD - computed torque controller (PD-CTC) and sliding mode controller (SMC). Finally, a numerical simulation will be provided to verify the superiority of the proposed controllers for the robotic manipulator.