Abstract
This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (SMC) controller and the Proportional Integral Derivative (PID) controller in terms of the performance analysis. As a result, the SMC demonstrates effective control performances compared to the PID controller according to the required trajectory, settling time, and end position of the system. Then, the SMC controller parameters are determined using the different optimization methods offered as open source by MATLAB/Response Optimization Toolbox and compared to each other. In the virtual co-simulation, the trajectory tracking control performance is observed to be improved by optimizing the parameters of the SMC controller using Simplex Search (SS) method. All control results are examined and presented with graphics and international error standards.
Highlights
The planar manipulators have easy installation, easy usage, high mobility, and broad working areas; they are more advantageous than other manipulator structures [1]
There is a lack of knowledge in simulating and controlling two-link planar robot manipulator systems with Adams and MATLAB co-simulation
In this study, the simulation modelling of the manipulator is performed in MSC Adams, which does not need the mathematical equations to investigate the controller performances
Summary
The planar manipulators have easy installation, easy usage, high mobility, and broad working areas; they are more advantageous than other manipulator structures [1]. Studies on systems with 4 or more DOFs have been reported in [4] for more complex and more important applications Their use is minimal because of the complex dynamic structures and kinematic calculations. There have been studies about the control of different robot manipulator systems. The simulation implementations have a critical role for robotics applications, especially in modelling physical systems. Unlike the abovementioned ones, MSC Adams, which is software used to build and simulate multi-body dynamics of platforms, will be used to model the robot manipulator. The five-position trajectory tracking control implementation is realized to investigate the different optimization methods offered as open source by MATLAB/Response Optimization Toolbox effect on the SMC controller and compared under the same conditions.
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