2-DOF Planar Robotic Manipulator – PID Trajectory Tracking in MATLAB
Description:
✔️This project demonstrates a 2-DOF planar RR robotic arm with:
✔️Smooth and realistic trajectory tracking using PID control
✔️Analytical inverse kinematics for accurate end-effector positioning
✔️Forward kinematics visualization and real-time animation
✔️User-selectable trajectories: Circle, Infinity, Rectangle
✔️Automatic MP4 video export of manipulator motion
✔️Clear joint and link labeling for educational or research purposes
✔️Perfect for students, researchers, and educators in robotics and control systems
DH Parameters:
| Joint | α (deg) | a (m) | d (m) | θ |
|---|---|---|---|---|
| 1 | 0 | L1 | 0 | θ₁ |
| 2 | 0 | L2 | 0 | θ₂ |
Features:
✅Control & Simulation:
✅PID-controlled joint angles
✅Smooth motion initialization
✅Automatic PID tuning via pidtune
✅Discrete-time simulation
System Requirements:
✔️MATLAB R2018a or later
✔️Windows / Mac / Linux supported
✔️No additional toolboxes required (uses basic MATLAB functions)
Use Cases:
📌 Robotics education & training
📌 Control systems and engineering courses
📌 Research & thesis projects
📌 Lecture demonstrations or YouTube tutorials