Simulation and Motion Analysis of a Planar Robotic Manipulator Using MATLAB Toolboxes

Abstract

This study presents the modeling, simulation, and motion control of a two-degree-of-freedom (DOF) planar robotic manipulator usingMATLAB’sSimscapeandRoboticSystemToolbox.Theresearchfocuseson designingasimulatedroboticarmcapableofexecuting controlledmovementsusingforwardkinematics.Theproposedapproachinvolvesmechanicalmodel,creation,motionanalysis,andcontrol kinematics.Theproposedapproachinvolvesacreationofamodelusingsimscapemultibodyblocks,motionanalysis,andcontrolexecution through Simulink. Furthermore, the study explores future advancements and the potential industrial applications of the robotic system.

Introduction

. Background and Problem Statement

Robotic manipulators are essential in automation and manufacturing for their precision and repeatability. However, physical prototyping is expensive and time-consuming. This project addresses the challenge by simulating a two-degree-of-freedom (2-DOF) robotic arm using MATLAB’s Simscape, enabling motion analysis and control testing in a virtual environment.

B. Research Objective

The study aims to design and simulate a 2-DOF robotic manipulator using MATLAB Simscape and the Robotics System Toolbox. The focus is on implementing forward kinematics to validate motion control and ensure efficient task execution within a defined workspace.

C. Development Framework

The manipulator consists of a base, revolute joints, links, and an end-effector, modeled in a simulated environment to allow testing of mechanical performance and preparation for further enhancements like trajectory planning and motor parameter estimation.

D. Design and Configuration

• Built with cylindrical base and revolute joints for rotational motion.

• Links are predefined in length; the end-effector is modeled for pick-and-place tasks.

• Mechanical constraints and reference frames are defined for accurate simulation.

E. Control and Simulation

• Simscape Multibody Toolbox is used to create the digital twin of the robot.

• White-box modeling (physics-based) is used for accurate simulation of forces (e.g., gravity, torque).

• A sine wave generator controls joint motion.

• The robot’s rigid body tree enables transformation and motion tracking using GetTransform blocks and kinematic algorithms.

F. Simulink and Motor Modeling

• A DC motor model is implemented to simulate energy conversion from electrical to mechanical.

• Speed, torque, current, and angular displacement are plotted using Scope blocks.

• The physics-based model offers more accuracy and transparency compared to data-driven models.

G. Key Outcomes

• Successfully simulates a 2-DOF robotic manipulator using white-box modeling.

• Produces a validated kinematic model and a functional simulation.

• Enables future improvements in motion planning and real-time control.

Deliverables

• Complete Simulink simulation

• Forward kinematics implementation

• Simulation results (graphs for joint angles, torque, speed, and end-effector motion)

• Resources and video demonstration available via shared Google Drive links.

Conclusion

This experiment successfully implements and validates a white-box model for a two-DOF planar robotic manipulator, demonstrating the effectiveness of forward kinematics in motion control. The study provides a solid foundation for future enhancements, including AI-driven control, inverse kinematics, and expanded industrial applications using concept of digital twin.

References

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Copyright

Copyright © 2025 Veena Lalvani, Jatin R Makwana. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.