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Corresponding Author

Soliman, Kamel

Subject Area

Computer and Control Systems Engineering

Article Type

Original Study

Abstract

The present paper introduces a general scope about the growing role of industrial robot system in modern industries. A dynamic model for a two links robot is introduced mechanics. The dynamic behavior of such robotics system is oscilacting on the system. A computer program based on Runge-Kutta-R-K) fourth order method with variable step, is designed to study the dynamic behavior of such robotic system. A suggested technique for choosing the most suitable control input (controlling torque) for such nonlinear system is introduced. The steps of the suggested technigue are classified as follows:- For each link different stable trajectory are assumed all these trajectories must fulfill the stability conditions. A back substitution for each of the chosen trajectories and its derivatives, into the dynamic equations of the robotic system is carried-out. For each chosen trajectory, back substitution results in, the controlling torque, that must be obtained by the actuator. The most suitable (optimal) trajectory for the corresponding link will be the trajectory, which produces, the most suitable controlling torque, that must be obtained by the actuator. An illustrative numerical example is introduced in the paper, to show the effectiveness of the suggested technique. Computational results insure the effectiveness & validity of suggested technique.

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