sabirhusnain/3dof-robot-control

A 3DOF robotic manipulator controlled using PID, the 3D model is also available that is designed on SolidWorks and end effector is assumed to be a pointing device such as a welding rod or bit.

3DOF Robot Control using MATLAB and PID

This project focuses on the control of a 3DOF (3 Degrees of Freedom) robot using MATLAB simulation and a PID (Proportional-Integral-Derivative) controller. The project aims to achieve precise and accurate control of the robot's movements by implementing the PID control algorithm.

Description

The 3DOF robot control project involves the following key components:

1. MATLAB Simulation: MATLAB is used as the platform for modeling and simulating the robot's behavior and dynamics. The simulation environment allows for realistic representation and analysis of the robot's movements.

2. PID Controller: The PID control algorithm is employed to regulate the robot's motion and achieve desired positions or trajectories. The PID controller continuously computes control signals based on the error between the desired and actual positions of the robot.

3. Robot Dynamics and Kinematics: The project incorporates the mathematical modeling of the robot's dynamics and kinematics to accurately simulate its behavior. This includes considering factors such as joint angles, joint velocities, and link lengths to determine the robot's position and movement.

Functionality

The 3DOF robot control system operates as follows:

1. System Initialization: The robot's physical characteristics, such as joint lengths and masses, are defined in the MATLAB simulation environment. These parameters serve as inputs to the dynamics and kinematics models.

2. PID Controller Design: The PID controller gains are tuned based on the robot's dynamic response to ensure stable and accurate control. The proportional, integral, and derivative terms are adjusted to optimize the control performance.

3. Simulation and Control: The simulation is executed, and the PID controller regulates the robot's movements based on the desired positions or trajectories. The controller continuously computes control signals to minimize the error between the desired and actual positions of the robot.

Usage

To use the 3DOF robot control MATLAB simulation:

1. Set up MATLAB: Ensure MATLAB is installed on your computer and is properly configured.

2. Open the MATLAB Project: Open the project file or MATLAB script containing the simulation code.

3. Configure Robot Parameters: Modify the robot's physical parameters, such as joint lengths and masses, to match the specific robot being controlled.

4. Tune PID Controller: Adjust the PID controller gains to achieve the desired control performance. This may involve trial-and-error or using optimization techniques to find the optimal values.

5. Run Simulation: Execute the MATLAB simulation to observe the robot's behavior under the PID control. Analyze the results and assess the effectiveness of the control algorithm.

Applications

The 3DOF robot control project has various potential applications, including:

• Industrial Robotics: The PID control of the robot can be utilized in industrial automation processes where precise control of robot movements is crucial.
• Robotic Manipulation: The project can be extended to control robotic arms or manipulators for tasks such as assembly, pick-and-place, or object manipulation.
• Educational Purposes: The simulation and control of the 3DOF robot serve as a learning tool for students and enthusiasts interested in robotics and control systems.

The MATLAB simulation provides a platform for studying and experimenting with different control strategies for the precise manipulation of a 3DOF robot.

For detailed instructions, code implementation, and further customization, please refer to the documentation provided in the project repository.