Robotic Manipulator Kinematics, Dynamics, and Control System Design

Project Overview

This project involved a comprehensive engineering analysis of a multi-joint robotic arm, starting with the derivation of Denavit-Hartenberg parameters to establish its kinematic model. Structural integrity was assessed through calculations of bending moments, stresses, and deflections under a representative payload, informing the selection of appropriate cross-sectional dimensions and material properties. A detailed multibody dynamics model was constructed in MATLAB Simulink, incorporating rigid body segments, revolute joints, and gravitational effects. The model was then used to simulate various motion profiles, enabling the measurement of required joint torques. Subsequently, suitable motor and gearbox combinations were selected, and PID controllers were designed and tuned to ensure precise trajectory tracking and minimize positional errors, validating the integrated design approach.