Robotics and Control Systems Simulation Laboratory

Developed by : Dr. C.S.Kumar , Institute : Indian Institute of Technology Kharagpur

 New Link of Virtual Lab on Robotics and Controlhttp://vlabs.iitkgp.ernet.in/mvl1/# FORWARD KINEMATICS OF A 4R ROBOTForward Kinematics of a 4R robot manipulator is analysed using MATLAB. FORWARD KINEMATICS OF A 6R ROBOTThe Forward Kinematics of a 6R robot manipulator is analysed using MATLAB. INVERSE KINEMATICS OF A 6R ROBOTInverse Kinematics of a 6R robot manipulator is analysed using MATLAB. CONTROL OF ONE DEGREE OF FREEDOM REVOLUTE TYPE ROBOT ARM WITH DC MOTORStudy of one degree of freedom is done using MATLAB. OPEN LOOP CHARACTERISTICS OF DC MOTORThe DC motor model for open loop step response and impulse response has been created using Matlab/Simulink. CLOSED LOOP CHARACTERISTICS OF DC MOTOR PROPORTIONAL CONTROLIn the proportional control algorithm, the controller output is proportional to the error signal, which is the difference between the set point and the process variable. CLOSED LOOP CHARACTERISTICS OF DC MOTOR PD CONTROLProportional-Derivative or PD control combines proportional control and derivative control in parallel. CLOSED LOOP CHARACTERISTICS OF DC MOTOR PI CONTROLPI Controller (proportional-integral controller) is a feedback controller which drives the plant to be controlled with a weighted sum of the error (difference between the output and desired set-point) and the integral of that value. CLOSED LOOP CHARACTERISTICS OF DC MOTOR PID CONTROL[CONTINUOUS TIME]A Proportional-Integral-Derivative controller (PID controller) is a generic controller . The PID control equation involves three separate parameters; the Proportional, the Integral and Derivative terms. CLOSED LOOP CHARACTERISTICS OF DC MOTOR PID CONTROL[DISCRETE TIME]The analysis for designing a digital implementation of a PID controller in a Microcontroller (MCU) or FPGA device requires the standard form of the PID controller to be discretised.