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404535

DYNAMIC MODELING AND COMPUTED TORQUE CONTROL OF A 5-DOF MANIPULATOR ROBOT CONSIDERING FRICTION

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Last updated: 13 Jan 2025

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Abstract

This paper presents the methodology used to model, simulate, and control a five-degree-of-freedom robot manipulator using the Computed Torque Control (CTC) technique. It formulates the basic control equations for model-based control strategies. The robot dynamics are analyzed and obtained by modeling the manipulator using SolidWorks and then exporting the CAD files to the MATLAB/SimMechanics environment to generate the block diagram of the multi-body system. The system motion equation is obtained through the dynamic Lagrange-Euler equation, which depends on the system's kinetic energy and potential energy considering friction. Then, a manipulator controller is designed to control the end-effector position's task space, and CTC is used with linear PD and PID controllers with feedback. The simulation results show that PD-CTC is effective and significantly superior to PID-CTC in achieving the required response of joint position, angular velocity, angular acceleration, and torque to achieve the required end-effector position, velocity, and acceleration. This study provides valuable insights to researchers on how to easily create dynamic equations for control and simulation, and evaluate and modify the system before implementing the prototype.

DOI

10.21608/jest.2025.327424.1107

Keywords

Robot dynamics, PID/PD controllers, Computed torque control, MATLAB SimMechanics, Friction model

Authors

First Name

EL Sayed

Last Name

Elmoushi

MiddleName

-

Affiliation

Production Technology Department, Faculty of Technology and Education, Helwan University, Cairo, Egypt.

Email

e_elmoushi@yahoo.com

City

Cairo

Orcid

-

First Name

Hassan A.

Last Name

Hassan

MiddleName

-

Affiliation

Production Technology Department, Faculty of Technology and Education, Helwan University, Cairo, Egypt.

Email

hassan_ahmed@techedu.helwan.edu.eg

City

Cairo

Orcid

-

First Name

Nasser

Last Name

Ayoub

MiddleName

-

Affiliation

Production Technology Department, Faculty of Technology and Education, Helwan University, Cairo, Egypt.

Email

nmayoub.usa@gmail.com

City

Cairo

Orcid

-

First Name

Sabreen A.

Last Name

Abdelwahab

MiddleName

-

Affiliation

Production Technology Department, Faculty of Technology and Education, Helwan University, Cairo, Egypt.

Email

engsabreenabdallah@gmail.com

City

Cairo

Orcid

0000-0003-3674-4987

Volume

22

Article Issue

1

Related Issue

52998

Issue Date

2025-01-01

Receive Date

2024-10-10

Publish Date

2025-01-01

Page Start

122

Page End

163

Print ISSN

2090-5882

Online ISSN

2090-5955

Article File

JEST_Volume 22_Issue 1_Pages 122-163.pdf

PDF . 1.9MB

Link

https://jest.journals.ekb.eg/article_404535.html

Detail API

http://journals.ekb.eg?_action=service&article_code=404535

Order

404,535

Type

Original Article

Type Code

1,211

Publication Type

Journal

Publication Title

Journal of the Egyptian Society of Tribology

Publication Link

https://jest.journals.ekb.eg/

MainTitle

DYNAMIC MODELING AND COMPUTED TORQUE CONTROL OF A 5-DOF MANIPULATOR ROBOT CONSIDERING FRICTION

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Article

Created At

13 Jan 2025