Design and simulation studies of 3-axis articulated robotic arm with PID controller

Tong, Chee Kiet (2016) Design and simulation studies of 3-axis articulated robotic arm with PID controller. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In this project, a virtual prototyping of three-axis articulated robotic arm has been carried out by implementing co-simulation technique which involved ADAMS and MATLAB Simulink. Initially, the modelling of articulated robot was constructed in SolidWorks, followed by exporting to ADAMS environment and established the co-simulation plant that links to the MATLAB Simulink. There were two cases of co-simulation process, where one of it was the robot co-simulation without disturbances, and the other was the case with disturbances. During co-simulation, there were data exchang between two softwares within the simulated time. Eventually, the result such as input torque, joint angle and tracking error of each robot joint, is acquired. The simulation results proved that the co-simulation technique is able to simplify the design process, and served as dependable data for future research work.

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