Simulink Multi-Link Robot Control
Budget: €8 – €30 EUR
I need hands-on support developing and analysing a complete MATLAB/Simulink model that starts with a single DC motor and scales up to a gravity-affected multi-link robotic arm. The aim is to follow an Independent Joint Control strategy, prove closed-loop stability and meet performance targets before I finalise my report.
The work begins with a pure Simulink build of the motor using gains and integrators, followed by open- and closed-loop simulations of position and velocity. We will introduce an amplifier gain, inject representative disturbances, and study how the motor behaves. From there I want the closed-loop transfer functions written out, then a PI controller designed with the root-locus method. Settling-time, overshoot and steady-state error all have to be verified in MATLAB to confirm the maths matches the plots.
Once the single-axis system is performing, we will expand the model into a multi-link robotic arm that includes gravity terms. Your task is to tune the PI/PID gains so the entire arm settles in under 10 s with less than 20 % overshoot, then document the results clearly enough for inclusion in my final paper.
Deliverables
• Simulink (.slx) models for the motor and the full multi-link arm
• MATLAB scripts/functions for transfer-function derivation, root-locus design and performance checks
• Plots: time-domain responses, root-locus, Bode or Nyquist if useful, plus any disturbance-response graphs
• Brief annotations or comments explaining each step so I can drop them straight into the report
I am working in the latest MATLAB release but can back-save files if needed. If you are fluent in Simulink control design and comfortable translating theory into a clean, well-documented model, let’s get started.
The work begins with a pure Simulink build of the motor using gains and integrators, followed by open- and closed-loop simulations of position and velocity. We will introduce an amplifier gain, inject representative disturbances, and study how the motor behaves. From there I want the closed-loop transfer functions written out, then a PI controller designed with the root-locus method. Settling-time, overshoot and steady-state error all have to be verified in MATLAB to confirm the maths matches the plots.
Once the single-axis system is performing, we will expand the model into a multi-link robotic arm that includes gravity terms. Your task is to tune the PI/PID gains so the entire arm settles in under 10 s with less than 20 % overshoot, then document the results clearly enough for inclusion in my final paper.
Deliverables
• Simulink (.slx) models for the motor and the full multi-link arm
• MATLAB scripts/functions for transfer-function derivation, root-locus design and performance checks
• Plots: time-domain responses, root-locus, Bode or Nyquist if useful, plus any disturbance-response graphs
• Brief annotations or comments explaining each step so I can drop them straight into the report
I am working in the latest MATLAB release but can back-save files if needed. If you are fluent in Simulink control design and comfortable translating theory into a clean, well-documented model, let’s get started.