PROJECT 2

For a two degree of freedom robot below that operates in a XY plane and in a vertical

gravity field following is given: a) L1=L2=1m, b) links are massless, c) Ma = 1 kg is a

point mass. Find the following.

• Find the differential equations of motion of this robot. With this, you will obtain a

system of two second order nonlinear equations. Inputs to your system are two

torques that are acting on each joint. You may also assume that both joints have

viscous damping.

• Using a PID controller, form a closed loop configuration for each of the joints.

• Implement such a controlled robot in Simulink.

• Tune the PID controller so that each robot's joint has an aperiodic response for a

step input.

• Plot all of your results.