Joint Space Trajectory Controller for Modular Reconfigurable Manipulator

dc.contributor.author	Patel, S M
dc.contributor.author	Singla, E
dc.contributor.author	Singla, A
dc.date.accessioned	2024-07-08T13:13:07Z
dc.date.available	2024-07-08T13:13:07Z
dc.date.issued	2024-07-08
dc.identifier.uri	http://dspace.iitrpr.ac.in:8080/xmlui/handle/123456789/4677
dc.description.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.	en_US
dc.language.iso	en_US	en_US
dc.subject	Modular reconfigurable robot	en_US
dc.subject	Control	en_US
dc.subject	Trajectory tracking	en_US
dc.title	Joint Space Trajectory Controller for Modular Reconfigurable Manipulator	en_US
dc.type	Article	en_US