Robotic Manipulator Simulation

Modeling and control of a serial robotic arm

As part of ME/ECE 441: Kinematics, Dynamics, and Control of Robotic Manipulators at UW–Madison, I completed a project simulating a serial robotic manipulator, applying principles of robotic analysis and control through hands-on MATLAB development.

This work integrates concepts from forward/inverse kinematics, differential kinematics, Lagrangian dynamics, trajectory planning, and control strategies in joint and task space.

Project Highlights

  • Kinematics (Forward & Inverse): Modeled using homogeneous transforms and the Denavit-Hartenberg (DH) convention.
  • Jacobian & Differential Kinematics: Derived analytical Jacobians, evaluated kinematic singularities, and implemented inverse velocity and acceleration mappings.
  • Dynamics via Lagrangian Formulation: Computed joint torques and modeled n-link robots through energy-based approaches.
  • Numerical Integration: Developed custom MATLAB solvers to simulate motion under computed torques.
  • Trajectory & Path Planning: Implemented single-joint trajectory generation and explored fundamentals of path planning.
  • Control: Explored independent joint control and nonlinear dynamic decoupling concepts.
Kinematic structure of the manipulator including DH-based transformation chain.

Tools Used

  • MATLAB: Symbolic and numeric modeling, simulation, and animation
  • Python: For additional plotting and visualization

This simulation stack provided a hands-on environment to implement core robotic manipulation concepts and strengthened my understanding of modeling, motion planning, and control of serial manipulators in both joint and operational space.