Modeling and control of the Merlin 6200 industrial robot

A dynamic model for the Merline 6200 industrial robot system which is suitable for optimization and control studies is derived by making use of the Lagrange-Euler method. A controller that is based on ideas from sliding mode and optimal control theory is applied to the linearized dynamic model to enable the arm to track a preplanned trajectory with minimum error. The results of computer simulations indicate that the dynamic model derived is suitable for control studies and that the controller applied is an accurate one.<>