Simulation and Control of Trajectory for Various Robot Configurations through MATLAB Programming
Trajectory control is an important step in deciding the workspace of any robotic manipulator. Algorithms were developed to predict the trajectory of a specific configuration of the manipulator. In this paper, an adaptive mathematical model is developed to trace the trajectory followed by a general robotic manipulator consisting only revolute and prismatic joints. Different factors like the number of links, assignment of frames to manipulator have been discussed which have an impact on the performance of the model. All the simulations are performed on MATLAB. Equations for position, velocity, and acceleration of for general manipulator have been developed and discussed. Different cases have been studied and compared. All the simulation results are verified and validated using theoretical equations.
Keywords - Manipulator, DOF, Actuators, Trajectory, Forward Kinematics.