Dynamic Modeling and Motion Control of a Three-Link Robotic Manipulator

This paper presents the dynamic modeling and motion control of a three-link robotic manipulator, also known as the RRR robot. The Kinect motion capture system by Microsoft is used in conjunction with the manipulator. A camera is used to capture the motion of a user's arm and tracks certain angles made by parts of the arm. We consider a pinhole camera model to generate reference angles as per a pinhole camera model in our simulations. These desired angles are fed into the controller and are used by the RRR robot in an effort to copy the movement of the user. A proportional-derivative (PD) controller is developed and applied to the manipulator for improved trajectory tracking. The RRR robot manipulator is dynamically modeled and the results of the proposed control strategy demonstrate good trajectory following.