Modelica Based Object-Oriented Modeling and PD-Computed Torque Control of a 2-DOF Robotic Arm

In this paper, an object-oriented model was developed using Modelica for a 2-DOF robotic arm. The model was validated through testing the performance of a PD computed-torque disturbance rejection method to handle the trajectory tracking control of the robotic arm. The simulation results obtained in Dymola proved the validity of the developed model and showed the effectiveness of the designed PD-computed torque controller in enhancing the trajectory tracking performance of the robotic arm.