Joint Space Trajectory Controller for Modular Reconfigurable Manipulator

Abstract

Abstract: In this paper we present, control strategies for modular and reconfigurable manipulator. Control strategies for conventional robot is well defined. Here we have implemented PD controller in joint space. Unified Robot Description File(URDF) is used to model kinematics and dynamic model of robot. This paper illustrates and implements the PD control law on modular manipulator with cases of reconfigurations with unconventional twist angle. To compare the performance of the controller we implement the same control on conventional four degree of freedom(DoF) Kinova MICO robot. Control input has been designed using a PD control strategy considering the error between desired pose and current pose. The numerical simulation is carried out on MATLAB.