Simulation of motion control of a cylindrical robot manipulator

In this paper, a dynamic model of a cylindrical robot manipulator of RPP (Revolute-Prismatic-Prismatic) type based on classical laws of mechanics including Euler-Newton, Kane and Lagrange approaches is developed and presented. MATLAB Robotics Toolbox tools are used to demonstrate and analyze the manipulator working environment. The main model parameters include generalized coordinate vector (q), generalized velocity vector (dt/dq) and generalized acceleration vector (dt2/dq), which provides a comprehensive approach to controlling the robot dynamics. The presented code is characterized by simplicity and high efficiency in the implementation of robot manipulator control. A key feature of the model is the ability to specify user-defined points, which allows real-time tracking and analysis of the manipulator trajectory, ensuring its adaptability and flexibility under different operating conditions.