Modeling and Trajectory Tracking Control of Robot Manipulators for Laser Cutting Industrial Application.

Abstract

Robot manipulators are electromechanical devices whose functionality is similar to that of the arms of human beings. The problem with robot manipulators is that they are open loop unstable systems so it is important to stabilize the response of the robot manipulator. In this research project the robot manipulator is used for an industrial application of Laser Cutting. For this purpose trajectory tracking is important. The user will define any desired trajectory and the robot manipulator’s end effector is supposed to track the desired generated trajectory. For this purpose a PID controller is used which is tuned using iterative method.  In this research work, simulations are carried out on a 2R robot manipulator with end griper using Simulink / Matlab Software. The end gripper is supposed to hold the laser that is meant to cut an object in a shape defined by user. In this paper, kinematic & dynamic models of robot manipulator, with and without uncertainties, will be presented and a PID controller will be designed to track the desired trajectory of the end effectorfor laser cutting applications

Keywords:Robot manipulator, Kinematics, trajectory tracking, PID controller, Joint Space, Joint variables, Work Space, End effector.