Simulation and optimization of computed torque control 3 DOF RRR manipulator using MATLAB

TL;DR

This paper presents the simulation and optimization of a 3-DOF RRR robotic manipulator using MATLAB, focusing on torque control strategies to accurately achieve desired positions.

Contribution

It develops a dynamic model and implements a torque control strategy for a 3-DOF RRR manipulator in MATLAB Simulink, enhancing control accuracy.

Findings

Successful simulation of manipulator trajectory and control.

Effective torque control strategy for precise positioning.

Optimization of manipulator performance using MATLAB.

Abstract

Robot manipulators have become a significant tool for production industries due to their advantages in high speed, accuracy, safety, and repeatability. This paper simulates and optimizes the design of a 3-DOF articulated robotic manipulator (RRR Configuration). The forward and inverse dynamic models are utilized. The trajectory is planned using the end effector's required initial position. A torque compute model is used to calculate the physical end effector's trajectory, position, and velocity. The MATLAB Simulink platform is used for all simulations of the RRR manipulator. With the aid of MATLAB, we primarily focused on manipulator control of the robot using a calculated torque control strategy to achieve the required position.