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Robot manipulators are articulated mechanical systems composed of links connected by joints. The dynamic equations of a robot manipulator can be obtained from Newton's equations of motion or, via Lagrange's equations. Here we considered a robot manipulator of 2 degrees of freedom (2-DOF) using the Lagrangian approach.
The simulation of various types of robot control systems is conducted by using Simulink, focusing on robot configuration design, kinematics and dynamics modeling, and controller design.
The Simulink model provides the system's dynamic equation-based model and Simscape provides the physical modelling. It compares both the uncompensated and compensated response (i.e. Lag and Lead controller) of DC motor speed control.
CAN (Controller Area Network) bus system to simulate transmitter and receiver signals between the powertrain and ECU (Electric Control Unit) of the vehicles with MATLAB/Simulink Vehicle Network Toolbox