Mathematical Modelling and Simulation of a Robot Manipulator

Robotics has had an exponential development in terms of its implementation and development in industrial and everyday applications, mainly with the aim of replacing the human being in activities that involve the performance of repetitive tasks, greatly reducing the time of almost any process, the costs and the physical effort applied. In this way, its study in universities and research institutions have opened the gap to promote innovation and manipulator optimization, or to demonstrate the disadvantages or limitations that some type of robotic solution may have in certain applications. In this work, the main problem is the mathematical modelling and simulation of a 4 degree of freedom (DOF) robotic manipulator with trajectory-tracking control. First of all, the modelling is addressed, it is based on the forward kinematics, the inverse kinematics and the differential kinematics. Then, as a proposed solution to the control problem, it has been suggested to carry out the control by means of independent joints, which basically consists of taking the variables that place the robot in the configuration that reaches the desired position by injecting them to the controller along with feedback from the position sensors such as controller error. Finally, the results obtained with the proposed independent joint controllers show acceptable operation characteristics during simulation.