Dynamic Simulation Robotic Arm Using MATLAB Simscape

Abstract

This thesis presents the dynamic simulation and PID-based control of a robotic arm using MATLAB Simulink and Simscape Multibody. The robotic arm is based on the ARX platform and is modelled as a four-active-joint serial manipulator, with the fifth joint treated as fixed. A SolidWorks CAD assembly was converted into URDF and STL files and imported into Simscape Multibody to create a virtual dynamic model. Denavit-Hartenberg parameters, forward kinematics, inverse kinematics, and trajectory planning were used to generate and verify the end-effector motion. The simulation evaluates joint torque, joint velocity, joint position, motor voltage, current, power, TCP position, and simplified TCP orientation through wrist compensation. The results show that the model can reproduce the planned robotic arm motion and provide useful information about actuator loading and controller performance within the assumptions of the simulation.