Modeling , Simulation and Design for different control strategies of robotic arm using matlab/ simulink.

Abstract

This research extends previous work and proposes design, modeling and control issues of a simple robot arm driven by permanent magnet direct motor (PMDC) applying different control strategies . In addition, Mathematical, Simulink models and MATLAB program are developed to return maximum numerical visual and graphical data to select, design, control and analyze arm system. Testing the proposed models and program for different input voltage with range of (0-12 volts) , when different control strategies are applied using (PID controller , lead and lag compensator) for angular position. The results show an accuracy and applicability of derived models , as well as ,comparison between the performance of each controller design approach and their assessment.