This project simulates a 3-DOF Prosthetic Arm for a Volleyball spike using the Recursive Newton-Euler algorithm in MATLAB and the simulation is provided in 2D Working Model software. A PID controller is added to make the motion of the arm more natural.
Inverse dynamics is the method to calculate the forces in a robots joint using a set of joint accelerations. They are crucial for the control and motion planning of a Robot.
The Recursive Newton-Euler equation works by using the Theta, Theta-dot and Theta-double-dot (i.e. which are the set of joint position, velocities, and acceleration) at a particular joint. The algorithm takes these inputs with some initial inputs to return the Force and Torques at that particular joint.
The simulation is in Working Model 2D software, where three links and three motor joints are connected. The motor joints input the motor torques.
The results after feeding the torques were not perfect due to factors like error in motor, gravity, etc. Hence, I decided to add a PID controller to correct the torques.
