Two Link Planar Robot Manipulator Mechanism Analysis with MATLAB

Abstract

Kinematic and dynamic modeling of serial robot manipulator is a challenging task but To obtain the best performance of the system, the study of the kinematic and dynamic mechanism of the system is essential. In order to study and analyze the kinematic and dynamic interaction of each link for various configurations, planar robot manipulator is used as a simplified model for kinematic and dynamic analysis. In this paper, the mathematical equations for kinematic and dynamic modeling of two link planar robot manipulator having two revolute joints are derived and equations are analyze by obtaining MATLAB code. The kinematic analysis is the relationships between the positions, velocities, and accelerations of the links of a manipulator and dynamic analysis is the relationship between force and motion generate on the joints and links. The kinematics separate in two types, forward (direct) kinematics and inverse kinematics and this same for dynamics also but my focus is on to formulate and analyze forward kinematics and dynamics only. In forward kinematics, the length of each link and the angle of each joint is given and we have to calculate the position of any point in the work volume of the robot. In dynamic analysis, to be able to control a robot manipulator as required by its operation, it is important to consider the dynamic model in design of the control algorithm and simulation of motion. The mathematical equations for kinematics and dynamics of two link planar robot manipulator based on the Denavit-Hartenberg (D-H) framework and Newton-Euler formulation are derived. MATLAB code in the form of several M-files are developed for kinematics and dynamics analysis of two link planar manipulator and results are plotted in the form of graphical representation.