MODELLING AND SIMULATION OF ROBOTIC MANIPULATORS WITH PD CONTROLLER USING ROOT LOCUS TECHNIQUE

Abstract

This report present the stability analysis via simulation of two axis robotic manipulator with proportional derivative controller using Root Locus technique. It is known that robotic arm manipulators face vibration condition throughout high speed process that effect proficiency of the robotic arm. It is required to decrease the weight of arms and increase their speed of operation in order to growth the productivity. Due to this inconvenience, it is requiring modelling the robotic arm manipulator system and testing in various conditions via simulation using computer software to analyze and enhance the performance of system. Furthermore, the system behavior can be comprehended without really testing in real time which also can spare time and cost.