2D 3R Manipulator Control Project

Project Overview

This project aims to implement dynamic control of a 2D robotic manipulator with three revolute joints (3R) using the "Computed Torque Control" strategy. The manipulator can be commanded to move to specific points within its workspace.

Instructions

To operate the robotic arm, follow these steps:

1. Launch the program named main.m.
2. Select a point within the designated workspace, which is indicated in red.

Example Figures

Below are example figures illustrating the performance of the manipulator. These figures are provided in PDF format.

• Figure 1: Initial State
• Figure 3: Final State

Displayed Data

The displayed data in the figures includes:

• Distance Error: The deviation between the desired position and the actual position of the end effector.
• Orientation Error: The difference between the desired orientation and the actual orientation of the end effector.

Additional Commands

Below are additional commands to run directly in the terminal to obtain the curves of the different variables:

figure_torque(time_array, tau_1_array, tau_2_array, tau_3_array)
figure_qdotdot(time_array, qdotdot1_array, qdotdot2_array, qdotdot3_array)
figure_qdot(time_array, qdot1_array, qdot2_array, qdot3_array)

See for example:

• Figure 1: Torque T(t)
• Figure 3: Joint velocities $\dot{q}(t)$