ann_elucubrations

Sorting my notes about artificial neural networks

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Robot Arm

Description

The single joint Robot Arm (or pendulum) is a classic example used in control theory. It consists in a solid rotating around a fixed axis. It is controlled by a torque applied to the rotation axis. It’s a mildly non linear second order system.

Kuka Robot Arm Robot Arm Schematics
Fig1. - Robot Arm Picture (left) and Schematics (right).

Model

Using Physical parameters, the dynamic can be written as:

The dynamic can be abstractly rewritten as

Figure (2) shows a simulation of the model, obtained with this code.

Robot Arm Trajectory
Fig2. - Robot Arm trajectory.