Position Tracking using State Feedback Controller Design for a 2 DoF RRBot

Developed at: Worcester Polytechnic Institute

Project date: December, 2022

GitHub URL: parth-20-07/Position-Tracking-using-State-Feedback-Controller-Design-for-a-2-DoF-RRBot

Brief Introduction on Project

This project is focused on the design of a State Feedback Controller for a two degrees of freedom (2-DoF) Revolute-Revolute (RR) arm, aimed at precise position control. It involves the use of advanced control systems techniques for robotic manipulators.

Project Highlights

• Application of state feedback control for a 2-DoF RR robotic arm.
• Use of non-linear dynamics, with linearization for controller implementation.
• Identification of system's equilibrium points and linearization using these points.
• Stability and controllability checks using eigenvalues and controllability matrix.
• Controller design based on chosen complex poles and the calculated feedback matrix \(K\).

Result