n-Link Robot Manipulator: Simulation and Control Design

Maverick BerklandFollow

Advisor Information

Mahboub Baccouch

Location

MBSC Gallery Room 308 - U

Presentation Type

Demonstration

Start Date

4-3-2022 9:00 AM

End Date

3-2022 10:15 AM

Abstract

n-Link Robot Manipulator: Simulation and Control Design

I will generalize the 2-Link Robot out to any amount (n) of links/joints. Picture a robotic arm. It has the bicep, the forearm, and the hand with fingers. With my method, I can pin-point a location to put the tip of the pointer finger in two dimensions using classical mechanics with the Lagrange equation and an approximation method to increase performance and decrease CPU time. I will use the Finite Element Method and 4th-Order Runge-Kutta method to approximate solutions to partial and ordinary differential equations used in determining the positions of each of the arm joints. The demonstration will consist of three links.

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Mar 4th, 9:00 AM Mar 1st, 10:15 AM

n-Link Robot Manipulator: Simulation and Control Design

MBSC Gallery Room 308 - U

n-Link Robot Manipulator: Simulation and Control Design

I will generalize the 2-Link Robot out to any amount (n) of links/joints. Picture a robotic arm. It has the bicep, the forearm, and the hand with fingers. With my method, I can pin-point a location to put the tip of the pointer finger in two dimensions using classical mechanics with the Lagrange equation and an approximation method to increase performance and decrease CPU time. I will use the Finite Element Method and 4th-Order Runge-Kutta method to approximate solutions to partial and ordinary differential equations used in determining the positions of each of the arm joints. The demonstration will consist of three links.