Trajectory tracking optimization and control of a three link robotic manipulator for application in casting

Abstract

In this study, forward kinematics, inverse kinematics, dynamic simulation and control of a three-link robotic manipulator for the pouring of molten metal using a small crucible are described. A 3D Computer Added Design (CAD) model of the robotic manipulator is designed in SolidWorks software. Simulation and control of this robotic manipulator were conducted in MATLAB 2016 b. The robotic manipulator SolidWorks CAD file is first converted into an Extensible Markup Language (XML) file after and then imported into MATLAB/Sim-Mechanics environment. A study on forward and inverse dynamics with a sinusoidal wave and cycloid trajectory as input signal was conducted and the joint actuator is controlled by Proportional-Integral-Derivative (PID) controller having a derivative filter. Trajectory tracking is optimized by Integral of Time multiplied by Absolute Error (ITAE) criteria using a pattern search algorithm. Variation in joint torque with a vertical load on the end-effector is described. It was found that the optimized controller reduced the ITAE error by 93.05%, 94.44%, and 97.6% in join1, joint2, and joint3 respectively.