Title: Trajectory tracking of 4-DOF robot manipulator: a bond graph approach

Authors: Rajmeet Singh; Manvir Singh Lamba; Tarun Kumar Bera

Addresses: Department of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala, Punjab, 147004, India ' Department of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala, Punjab, 147004, India ' Department of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala, Punjab, 147004, India

Abstract: This research work presents the design of a position control algorithm for trajectory tracking of a four-degree-of-freedom robotic manipulator. The linkage mechanism of the manipulator is based on a parallelogram mechanism and in this manipulator, three parallelogram mechanisms are used. First, the CAD and the kinematic model of the manipulator are developed. The bond graph (BG) approach is applied to develop the dynamic model of the robotic arm based on kinematic equations. The BG model of parallelogram linkage is then compared with the Simulink model of parallelogram linkage and results are validated. Then, a position control algorithm is proposed to follow a set of trajectory planning applications. A GRBL-Arduino based controller is used to estimate the position of the end-effector as per the user's requirements. The simulation and experimentation work are performed for 3D trajectory tracking applications. The robotic arm is used for pick and place operation within the workspace.

Keywords: 4-DOF robotic arm; position control; GRBL controller; bond graph approach; Simulink; pick and place.

DOI: 10.1504/IJMA.2022.130398

International Journal of Mechatronics and Automation, 2022 Vol.9 No.4, pp.180 - 191

Received: 24 Nov 2021
Accepted: 17 Mar 2022
Published online: 19 Apr 2023 *

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