부산대학교 도서관

The accurate dynamic model of the robot manipulator is essential for better control performance. Dynamic modelling refers to deriving such equations that explicitly describe the relationship between force and motion in a system. There are several methods to solve for the dynamics of the system. The main concern while doing dynamics is to check its reliability and verification. In this paper, Lagrange Euler (L-E) method is used to dynamically model a five-degrees-of-freedom (DOF) robot manipulator and verified through 3D model of robot in Simulink, simscape multibody toolbox. Followed by the implementation of a proportional-integral-derivative (PID) control with a low pass filter ‘N’ (PIDN) on the derived system. The low pass filter enhances the control performance by eliminating the effect of derivative term’s fluctuations (noise). Furthermore, Ziegler Nichols"s closed-loop tuning method is used to optimally tune the PID control. The derived model and control algorithm simulations have been performed in MATLAB. The simulations results illustrated that the derived model is controllable which indicates the correctness of the derived model.