A 3 DOF robotic platform dynamics control using rapid prototyping tools

As the main aim for mechatronics engineers in the field of industrial robotic is basically to enhance velocity and accuracy of the treated structure, more and more powerful systems for the design and optimization process are developed. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. The rapid control prototyping is executed with simulation programs (mechanical and electronics devices) embedded in the real time environment. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of predictive control laws to a robot trajectory control using an integrated virtual environment for the modeling and simulation of mechatronics devices