Modelling and Study of Dynamics and Control of a Two-Link Serial Manipulator

A manipulator design is mainly dictated by kinematic and dynamic analysis so far as mechanism design is concerned. This work mainly focuses on dynamic analysis and implementation of proportional–integral–derivative (PID) controller for a two-link serial manipulator. Through this work, we intend to study the dynamic equations to evaluate the joint forces/torques, carry out their parametric analysis and study the impact on joint torques, displacement, velocity and acceleration. Implementation of a PID controller is also carried out by establishing controller equations. An attempt is made to validate the controller model for step input signal. This work presents in a very simple manner the entire formulation of dynamic equations and controller equations and is therefore critical to the mechanical design of serial manipulators for practical industrial applications. This work paves way to better understanding in implementation of dynamic and control algorithms on different manipulators mainly serial manipulators.