Integrated Multiphysics Simulation and Built in Control Design of a Three Link Robotic Manipulator

Abstract The aim of this paper is to create a complex model of a robotic manipulator in a multiphysics simulation environment and design its control exclusively using the built-in resources of this environment, without the application of external analytical or numerical methods for calculating controller parameters. The introductory chapter sets the goal and emphasizes the importance of control systems in technical practice. At the same time, the basic parameters of the modeled mechanism and the characteristics of the operation that the simulated system is to perform are specified. In the following chapters, a simulation model of the mechanism is derived. The kinematic structure of the robotic arm, the number of degrees of freedom, as well as key dynamic characteristics that significantly affect the behavior of the system during movement are described. This model forms the basis for subsequent virtual implementation in the simulation environment. The next part is devoted to the implementation of the simulation model, where the mechanism structure consists of a stationary base, three rotating links and an end effector. The chapter describes in detail the specified motion profiles and boundary conditions of the simulation, which reflect realistic loading and operating modes of the system.