Question

Implement the model and control of a two-degree-of-freedom manipulator using MATLAB and/or SIMULINK.

Using the model presented (based on the book "Robotics" by John Craig, Pearson 3rd edition pp. 176-181), write a MATLAB program that solves the direct dynamics of the manipulator and considering that:

l₁=l2=0.5m

m₁=4.6Kg

m₂=2.3Kg

g=9.8m/s²

The geometry of the links is such that it can be considered that the CoM is located in the center of mass of the servomotor and that in turn concentrates the weight of the link.

Answer 1

A detailed MATLAB/SIMULINK model for a two-degree-of-freedom manipulator is based on provided parameters, including the calculation of torques and the system's direct dynamics, with center of mass considerations and is used to maintain system balance.

Step-by-step explanation:

To implement the model and control of a two-degree-of-freedom manipulator using MATLAB and/or SIMULINK, we will consider the parameters provided: l1 = l2 = 0.5 m, m1 = 4.6 kg, m2 = 2.3 kg, and g = 9.8 m/s². Assuming that the center of mass (CoM) is located at the midpoint of the servomotor, which concentrates the weight of the link, we can set up the necessary equations of motion for direct dynamics, incorporating the torques due to gravity.

A detailed MATLAB program will include defining the link lengths, masses, gravitational acceleration, and setting up the dynamics equations using the symbolic toolbox or numerical methods. The free-body diagrams and equilibrium conditions are crucial for correct torque calculations. The MATLAB code would simulate the system's response to external inputs and control signals, keeping the manipulator in balance.