MUHAMMAD Adeel. Dynamics and Proportional-derivative Control of 3-link Planar Manipulator[J]. International Journal of Plant Engineering and Management, 2019, 24(1): 1-9

Dynamics and Proportional-derivative Control of 3-link Planar Manipulator
State Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
In this paper, an effective dynamic equation of a three link manipulator for a control purpose has been dealt with by the Euler-Lagrange method. The structural properties of the derived dynamic equation were proved so that the vast control strategies developed for the serial counterparts can be easily extended for controlling the three link manipulator. In addition, it is illustrated how to design a PD controller for the robot manipulator by making use of computed torque method strategy to develop our controller. Simulation results are included in order to depict the performance of the controller.
Key words:    robotic manipulator    dynamic modeling    PD controller    euler-lagrange equation   
Received: 2018-10-22     Revised:
DOI: 10.13434/j.cnki.1007-4546.2019.0101
Corresponding author:     Email:
Author description: MUHAMMAD Adeel is a master, Nanjing University of Aeronautics and Astronautics. His research interests are space robotics vision, control and capture.
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