Design A Precision Motion Control of an Upper Limb Robotic Arm

Trajectory tracking is utilized in medical rehabilitation programs at the early stage of order to track performance patient performing prescribed task. The robotic arm has been accomplish this due it precision and provide repetitive motion. goal study design simulate a two-degree-of-freedom that can effectively trajectory. As result, discusses modelling, simulation, control Two Degree Freedom (2-DOF) Robot Arm attain goal. First, robot specifications are provided, as well forward inverse kinematics 2-DOF arm. dynamics were then defined using Euler- Lagrange Equation obtain motion equations. A PID controller was used construct for robot's controller. MATLAB record all data, including margin error, overshoot, peak settling time. data identified PI controllers, which error smaller than 7 1.5, respectively. create prototype model by Sim Mechanics. obtained indicates best fit robot.