Title: Trajectory tracking control of two-link industrial robot manipulator based on C++

Authors: Bose Selvam; U. Natarajan; M. Balasubramonian; S.K. Lakshmanaprabu

Addresses: Department of Mechanical Engineering, Mount Zion College of Engineering and Technology, Pudukkottai, India ' Department of Mechanical Engineering, Alagappa Chettiar Government College of Engineering and Technology, Karaikudi, India ' Department of Electrical and Electronics Engineering, Alagappa Chettiar Government College of Engineering and Technology, Karaikudi, India ' Department of Electronics and Instrumentation Engineering, B.S. Abdur Rahman Crescent Institute of Science and Technology, Chennai, India

Abstract: In this paper, trajectory tracking of two-link planar rigid robot manipulator using proportional-integral-derivative (PID) control law based on open source, C++ software has been presented. Trajectory tracking control of industrial robot manipulator is an important task for a control engineer in order to increase the productivity in the manufacturing sector utilising manipulator. The significance of this paper is the demonstration of the importance of open software C++ for trajectory tracking control analysis of robot manipulator instead of utilising high-end commercial software like MATLAB which is costly. Fourth order Runge-Kutta (RK4) method has been utilised to solve the control problem represented as a simultaneous differential equation and the simulation algorithm is written as codes in C++ environment. Proportional-integral-derivative (PID) control law has been implemented for the trajectory control task. The proposed cost-free approach provides researchers and students a better platform for dynamic and control analysis of complex dynamic system such as robot manipulator. The simulation results obtained in both MATLAB and C++ environments are similar and hence the proposed C++ based trajectory control analysis has been validated.

Keywords: C++; trajectory control; rigid manipulator; two-link; gnuplot; Runge-Kutta; MATLAB; proportional-integral-derivative; PID; open source; Simulink.

DOI: 10.1504/IJRAPIDM.2019.097024

International Journal of Rapid Manufacturing, 2019 Vol.8 No.1/2, pp.3 - 15

Received: 08 May 2018
Accepted: 06 Jul 2018
Published online: 14 Dec 2018 *

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