Modeling and Control of a Robot Arm on a Two Wheeled Moving Platform

In this paper, the derivation of dynamic model of a robot arm on a two wheeled moving platform, and design of controllers to stabilize the robot arm are presented. The modeling of two wheeled moving platform is conducted through Simmechanics® toolbox of Matlab® software. Considered control approaches are PID control and linear quadratic gaussian (LGQ) for the dynamic system. The controllers are designed by using linearized model devised from Simmechanics®. Simulation studies are discussed. Control approaches are compared in detail in terms of tracking precision, quality of control signal. The aims of this study are derivation of linearized model for designing controllers, and determining the most appropriate controller for the real time system.