Modeling and Simulation of a Point to Point Spherical Articulated Manipulator using Optimal Control

TL;DR

This paper presents the design and simulation of an optimal control strategy using LQR for a 3-DOF spherical manipulator, demonstrating improved stability and performance over traditional PID control through MATLAB simulations.

Contribution

It introduces an optimal control approach using LQR for a spherical manipulator, including nonlinear modeling and linearization for control implementation.

Findings

LQR outperforms PID in stability and accuracy

Simulations validate the effectiveness of the optimal control strategy

The approach enhances trajectory tracking for spherical manipulators

Abstract

This paper aims to design an optimal stability controller for a point to point trajectory tracking 3 degree of freedom articulated manipulator. The DH convention is used to obtain the forward and inverse kinematics of the manipulator. The manipulator dynamics are formulated using the Lagrange Euler method to obtain a nonlinear system. The complicated nonlinear equations obtained are then linearized in order to implement the optimal LQR. The simulations are performed in MATLAB and Simulink and the optimal controllers performance is tested for various conditions and the results are presented. The results obtained prove the superiority of LQR over conventional PID control.