Simulation of a two link planar anthropomorphic manipulator

Syed Muhammad  Asif

Authors

Syed Muhammad Asif Queen Mary University of London

Keywords:

Two-link planar manipulator, anthropomorphic robot, mathematical modeling, MATLAB/SIMULINK, simulation, performance analysis, step size, torque input, tip mass, robotic dynamics

Abstract

Mathematical modelling of the dynamics of a two-link planar anthropomorphic manipulator has been established to obtain the simulations on MATLAB/SIMULINK. After successful simulation, results were then used to determine the factors that govern the performance of the manipulator. It also enabled to analyze the extent to which a particular factor governed the performance or output of the robot. After the analysis, it was apparent that increase in step size increased the accuracy of the results. Moreover, it was also observed that increasing mass of the tip increased the torque input to the system.

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