Trajectory tracking control of two-link industrial robot manipulator based on C++

摘要

In this paper, trajectory tracking of two-link planar rigid robot manipulator using proportional-integral-derivative (PID) control law based on open source, C++ software has been presented. Trajectory tracking control of industrial robot manipulator is an important task for a control engineer in order to increase the productivity in the manufacturing sector utilising manipulator. The significance of this paper is the demonstration of the importance of open software C++ for trajectory tracking control analysis of robot manipulator instead of utilising high-end commercial software like MATLAB which is costly. Fourth order Runge-Kutta (RK4) method has been utilised to solve the control problem represented as a simultaneous differential equation and the simulation algorithm is written as codes in C++ environment. Proportional-integral-derivative (PID) control law has been implemented for the trajectory control task. The proposed cost-free approach provides researchers and students a better platform for dynamic and control analysis of complex dynamic system such as robot manipulator. The simulation results obtained in both MATLAB and C++ environments are similar and hence the proposed C++ based trajectory control analysis has been validated.