Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation

Abstract

This paper describes a novel approach to the robotic system’s dexterous manipulator arm design. A simulation model of the robotic system is developed in the MATLAB/Simulink environment. The designed gripper moves the dumbbells from one shelf to another using impedance and dynamics control. The novel approach to contact force control was tested. For the most accurate simulation, the size and mass parameters of the manipulator and dumbbells are determined. In addition, various force parameters such as normal, friction and damping were evaluated. The dynamic behavior of the robotic system was described by the Lagrange dynamics equations to find the acceleration of the robot’s joints during friction interaction, and the energy performance was described. The corresponding dynamic model and its analysis are the starting point for its successful solution. The analytical and numerical descriptions are obtained and can be further used for computer simulation of the system, calculation of dynamic constraints, optimization of manipulator design, synthesis of trajectory planner and motion control algorithms of dexterous manipulative robotic systems.