Control & Simulation for Robotic Arm
Development and validation of a control strategy for a multi-axis robotic arm – including modeling, simulation, controller design, and real-time integration.
Problem
"The robotic arm needed to follow precise trajectories but showed overshoot and position errors during fast movements. The goal was a more stable control with shorter settling times and reproducible accuracy."
Our Solution
Development of a physical model with MATLAB/Simulink (rigid-body modeling, friction effects) and derivation of a control architecture (PID/Feedforward). Additionally:
- Trajectory planning (S-curve / trapezoidal profiles) to limit jerk-induced oscillations
- Parameter tuning (Ziegler–Nichols / fine-grained) with Monte Carlo variations
- HIL testing via ROS (rosserial/rosbridge) & Gazebo simulation
- Sensor fusion (Encoder + IMU) for robust position feedback
Technologies
MATLAB/Simulink (Control System, Simscape)
ROS/ROS2 (Topics, TF, rosserial, rviz), optionally Gazebo
Python/ROS Nodes for interfaces & logging
Embedded Target (e.g., STM32/Arduino) for real-time controllers
Data analysis: Step response, Bode diagram, Overshoot/ISE/IAE
Result
- Overshoot reduced by ~35–50% (depending on axis/load)
- Settling time reduced by ~30%
- Position accuracy < 0.5° on reference trajectories
- Reproducible motion profiles through jerk-limited trajectories
Automatisierung für Ihre Industrie?
Lassen Sie uns Ihre Vision einer smarten Fabrik Realität werden lassen.