Feedback Linearized Model Predictive Control of a Two Link Robot Arm

Abstract

Nowadays, robotic arms are widely used in industry. Robotic arms are used in applications such as pick and place, arc welding, spot welding, packaging, machine maintenance, and material handling. Robot arms are used extensively especially in the automotive industry. The use of robotic arms reduces the need for labor, reduces costs and reduces work accidents. As the importance of robotic arms increases with the development of industry, the problem of controlling robot arms has also gained importance. In this study, modeling of a 2-link robot arm and model predictive controller (MPC) design were carried out. The nonlinear dynamic model of the robotic arm is linearized through feedback linearization. MATLAB and Simulink programs were used to model the linearized robotic arm. MPC controller design was carried out for the linearized robot arm model and thus the movements of the robot arm could be controlled. The simulations performed revealed that the designed MPC successfully controlled the robotic arm.

Keywords

• model predictive control
• feedback linearization
• mathematical model
• manipulator dynamics
• robot kinematics

References

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