Tracking control and simulation for two robot manipulators

• Main Author: Guo, Zhenwei
• Other Authors: Hu Guoqiang
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering; Tracking control
• Online Access: https://hdl.handle.net/10356/176163
• Institution: Nanyang Technological University

This project focuses on an algorithmic optimization problem for motion trajectory planning of a dual robotic manipulators system. Robotic manipulators are important part of automation system, and its working state is directly related to the stability and reliability of the whole system operation. The project initiates by establishing a mathematical model using the Denavit-Hartenberg (DH) matrix to describe the positional dynamics of the dual robotic manipulators. Subsequently, trajectory planning is executed through the circular arc interpolation method in Cartesian space, aiming to achieve a smoother and more refined movement for the robotic arms. A key focus of this project is collision avoidance. An optimized artificial potential field method is seamlessly integrated to guide both robotic manipulators toward a predefined target point. This approach ensures not only a precise and smooth trajectory but also actively prevents collisions, enhancing the safety and efficiency of the entire system. Finally, by incorporating mathematical modeling, circular arc interpolation, and artificial potential fields, this work presents a comprehensive approach to motion trajectory planning with potential applications in real-world scenarios. The optimized artificial potential field method is used to make both robotic manipulators reach the target point smoothly without collision.