two link rigid robot simulation, SPR rate control

This is a simulation done in MATLAB of a two link robot moving from an initial position to a final position. The blue line represents the first robot link and the red line
represents the second robot link. The initial angles are 75 deg for link 1 (relative to the ground, so horizontal) and -90 deg for link 2
(relative to the position of link 1). The robot is placed in the vertical plane, so the force of gravity acting on each link must be accounted for via the control torque of each actuator at the joints.

The controller itself is proportional feedback control plus rate feedback control. It does not have the form of a simple PID controller, but consists of "P" control plus "SPR" (strictly positive real) control. This kind of controller is guaranteed to stabilize a passive plant such as a rigid robot.

A "passive plant" is a system that will not generate energy, but will only store it. In the absence of any control torque or friction (joint friction or viscous friction due to air resistance), this two link system is a double pendulum with no energy sources; hence passive.

Category:

Howto & Style

Tags:

• robot
• simulation
• MATLAB

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teh