Model-Based Predictive Command of a 5-DoF Robotic Manipulator using Dynamics Mathematics
Pengendalian Prediktif Berbasis Model untuk Manipulator Robot 5-DoF Menggunakan Model Dinamika Matematis
DOI:
https://doi.org/10.21070/jeeeu.v10i1.1752Keywords:
: mobile robotic systems, , model-based control design, motion control, , predictive control, kinematics, and dynamics of articulated robotsAbstract
This study presents the design and implementation of a predictive model control (MPC) framework tailored for articulated robot arms, enabling precise local motion control during complex manipulations and interdepartmental transport tasks. The research begins with a systematic formulation of the robot arm’s kinematics and dynamics, establishing mathematical models that serve as the foundation for advanced control strategies. A five-degree-of-freedom robotic arm, composed of motor and arm components, is employed as a case study to demonstrate the modeling process and validate the MPC design. Unlike conventional control approaches, the proposed framework emphasizes adaptability and robustness, offering improved trajectory tracking and disturbance rejection. Simulation results highlight the effectiveness of MPC in achieving smoother motion and reduced error margins, with quantitative indicators such as tracking accuracy and computational efficiency underscoring its performance advantages. While the outcomes confirm the feasibility of the approach, limitations related to hardware scalability and real-time implementation are acknowledged. Future work will focus on extending the framework to collaborative robotic systems, integrating sensor fusion for enhanced perception, and exploring deployment in industrial environments. Overall, this research contributes a structured methodology for predictive control in robotics, bridging theoretical modeling with practical application..
References
Y. Jiang, S. Zhao, J. Liu, S. Wu, Y. Jiang, and Y. Jin, “Review of dual-arm parallel and collaborative motion: methods, progress and applications in agriculture,” Dec. 01, 2025, Elsevier B.V. doi: 10.1016/j.compag.2025.111081.
[2]L. Jin, L. Ling, C. Wang, and Y. Liu, “A novel compliant ankle rehabilitation robotic system based on a 6-DOF robot arm,” Ain Shams Engineering Journal, vol. 16, no. 12, Dec. 2025, doi: 10.1016/j.asej.2025.103773.
[3]H. E. A. Adam, J. K. Kimotho, and J. G. Njiri, “Multiple faults diagnosis for an industrial robot fuse quality test bench using deep-learning,” Results in Engineering, vol. 17, Mar. 2023, doi: 10.1016/j.rineng.2023.101007.
[4]R. Basu and S. Padage, “Development of 5 DOF Robot Arm-Gripper for sorting and investigating RTM Concepts,” 2017. [Online]. Available: www.sciencedirect.comwww.materialstoday.com/proceedings
[5]L. Zhang, X. Yan, and Q. Zhang, “Design and analysis of 3-DOF cylindrical-coordinate-based manipulator,” Robot Comput Integr Manuf, vol. 52, pp. 35–45, Aug. 2018, doi: 10.1016/j.rcim.2018.02.006.
[6]A. Paul and R. Machavaram, “Design, kinematic modeling, and hybrid AI-based optimization of a vision-guided 6-DOF robotic arm for capsicum harvesting in greenhouse environments,” Franklin Open, vol. 12, Sep. 2025, doi: 10.1016/j.fraope.2025.100388.
[7]R. Wang, T. Guo, Y. Li, D. Meng, and B. Liang, “Generalized Jacobian operator-based full-arm trajectory planning for multi-arm continuum space manipulators,” Aerosp Sci Technol, vol. 170, Mar. 2026, doi: 10.1016/j.ast.2025.111559.
[8]B. Liao, T. Wang, K. Yan, L. Shen, Z. Li, and P. Yin, “Motion control of exoskeleton arm with potential energy minimization,” Control Eng Pract, vol. 164, Nov. 2025, doi: 10.1016/j.conengprac.2025.106481.
[9]A. T. Elgohr, H. A. Khater, and M. A. A. Mousa, “Trajectory optimization for 6 DOF robotic arm using WOA, GA, and novel WGA techniques,” Results in Engineering, vol. 25, Mar. 2025, doi: 10.1016/j.rineng.2025.104511.
[10]X. Yu, L. Zhang, B. Han, R. Hou, W. Wang, and Y. Wu, “An analytical inverse kinematics solution for 7-DOF manipulator based on screw theory,” J Franklin Inst, vol. 363, no. 2, Jan. 2026, doi: 10.1016/j.jfranklin.2025.108319.
[11]M. A. Momani and M. Hosseinzadeh, “Physically feasible dynamic model identification and constrained control of robotic arms: A case study on the ViperX-300 6-DoF robotic manipulator,” Mechatronics, vol. 112, Dec. 2025, doi: 10.1016/j.mechatronics.2025.103419.
[12]J. Rong et al., “Decoupled motion planning method for 7-DOF manipulator and lifting joint in automated tomato harvesting,” Comput Electron Agric, vol. 237, Oct. 2025, doi: 10.1016/j.compag.2025.110693.
[13]J. Zhao et al., “Constraint-integrated inverse kinematics method for dual-arm motion,” Acta Astronaut, vol. 228, pp. 755–768, Mar. 2025, doi: 10.1016/j.actaastro.2024.12.048.
[14]M. H. Korayem and V. Vahidifar, “Detecting hand’s tremor using leap motion controller in guiding surgical robot arms and laparoscopic scissors,” Measurement (Lond), vol. 204, Nov. 2022, doi: 10.1016/j.measurement.2022.112133.
[15]S. M. Alipour and J. Arghavani, “Eigen-value analysis of Kresling modules: A systematic approach to designing arm-like origami structures,” Thin-Walled Structures, vol. 218, Jan. 2026, doi: 10.1016/j.tws.2025.114016.
[16]G. Wang, W. Li, X. Gao, and Q. Zhang, “Analytical inverse kinematic solution for the redundant 7-DoF manipulator,” Rob Auton Syst, vol. 194, Dec. 2025, doi: 10.1016/j.robot.2025.105142.
[17]Z. Tang, E. Li, T. Zhao, B. Zhu, D. Pang, and P. Xiang, “Hydroelastic oscillations characteristics of a floating-base underwater ultra-long-arm: Spatiotemporal coupled dynamics of an elastic underactuated system,” Ocean Engineering, vol. 343, Jan. 2026, doi: 10.1016/j.oceaneng.2025.123225.
[18]S. Waseem, M. Adnan, M. S. Iqbal, A. A. Amin, A. Shah, and M. Tariq, “From classical to intelligent control: Evolving trends in robotic manipulator technology,” Computers and Electrical Engineering, vol. 127, Oct. 2025, doi: 10.1016/j.compeleceng.2025.110559.
[19]Ö. Yurtsever and H. Küçük, “Design, production and vision based analysis of a wireless operated 2-DOF SMA driven soft robotic arm,” Mater Today Commun, vol. 34, Mar. 2023, doi: 10.1016/j.mtcomm.2022.105176.
[20]Z. Ali et al., “Design and development of a low-cost 5-DOF robotic arm for lightweight material handling and sorting applications: A case study for small manufacturing industries of Pakistan,” Results in Engineering, vol. 19, Sep. 2023, doi: 10.1016/j.rineng.2023.101315.
[21]Y. Cui, M. K. Keith, J. Pu, M. Cui, H. Ji, and N. Hu, “Cooperative active disturbance rejection motion control of multi-manipulator based on mechanical-electrical-hydraulic joint simulation,” ISA Trans, Dec. 2025, doi: 10.1016/j.isatra.2025.09.001.
[22]X. Tang, J. Yang, and H. Ding, “Design and control of a parallel electromagnetic variable stiffness manipulator for robotic compliant grinding,” Robot Comput Integr Manuf, vol. 98, Apr. 2026, doi: 10.1016/j.rcim.2025.103158.
[23]L. Liu et al., “Prescribed performance dynamic surface control based on dual extended state observer for 2-dof hydraulic cutting arm,” ISA Trans, vol. 155, pp. 414–438, Dec. 2024, doi: 10.1016/j.isatra.2024.09.021.
[24]B. Toussaint and M. Raison, “Real-time algorithm for table tennis with a desktop robotic arm,” Rob Auton Syst, vol. 197, Mar. 2026, doi: 10.1016/j.robot.2025.105288.
[25]M. Asgari, I. A. Bonev, and C. Gosselin, “Singularities of ABB’s YuMi 7-DOF robot arm,” Mech Mach Theory, vol. 205, Mar. 2025, doi: 10.1016/j.mechmachtheory.2024.105884.
[26]K. R. Sughashini, V. Sunanthini, J. Johnsi, R. Nagalakshmi, and R. Sudha, “A pneumatic robot arm for sorting of objects with chromatic sensor module,” in Materials Today: Proceedings, Elsevier Ltd, 2020, pp. 6364–6368. doi: 10.1016/j.matpr.2020.10.936.
[27]B. Zhang et al., “Research on obstacle avoidance motion planning of robotic arm based on RG-DQN,” Procedia Comput Sci, vol. 271, pp. 107–113, 2025, doi: 10.1016/j.procs.2025.10.118.
Downloads
Published
Issue
Section
Categories
License
Copyright (c) 2026 Nabeel Muhamed, Khaleel Ali khudhur , Raid W. Daoud
This work is licensed under a Creative Commons Attribution 4.0 International License.
