MODELING AN INDUSTRIAL ROBOTIC MANIPULATOR IN THE ELECTROMECHANICAL DOMAIN

Abstract

In this work, a prototype of a robotic manipulator is developed and its dynamic analysis is per- formed. The system under study was analyzed in a multi-domain environment using two MATLAB tool- boxes, that is, Simscape Multibody and Simscape Electrical. By doing so, an accurate electromechanical model was constructed in this paper. Subsequently, a nonlinear controller was designed for the trajectory tracking of the end effector of the robotic manipulator. The control architecture employed in this work is a Proportional-Derivative (PD) control scheme, which is widely used in industrial applications. The nu- merical results presented in the paper demonstrate the effectiveness of the methodology followed in this investigation.