1 / 18

MATLAB Robot Simulator

MATLAB Robot Simulator. Adam Lodes University of Missouri December 6 th , 2010. Introduction. Code a simulator that can model any robot Given the DH parameters, model and animate the robot Allows for the user to visualize joints and movements of any robot

earles
Download Presentation

MATLAB Robot Simulator

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. MATLAB Robot Simulator Adam Lodes University of Missouri December 6th, 2010

  2. Introduction • Code a simulator that can model any robot • Given the DH parameters, model and animate the robot • Allows for the user to visualize joints and movements of any robot • Use Puma3D by Walla Walla Washington as an example simulator

  3. Problem Statement • The DH parameters are a set of 4 parameters that describe any link of a robot. • Each robot can be adequately described by the set of DH parameters for each link • From any DH table, the simulator can construct a model for the robot, and animate each joint.

  4. Approach • Assumption is to model the robot from only the DH parameters. • No link data available • No end-affecter data available • Aim is to model any robot, regardless of joint configuration • Aim is to animate each joint independently • Build simulator in MATLAB • Use the Puma3D simulator written by Walla Walla Washington

  5. Coding Order and Approach • GUI management (uicontrol, uitable) • Enter the DH table • Construct individual links from cylinders and rectangles (patch objects) • Construct all the links from the entered DH table • Test many different robots • Animate each link with tester code • Apply to all links independently • Test with many different robots • Add control GUIs for the animation • Add extra functions (Home, Random Move) • Add an end-affecter • Add GUI support for loading different Robots

  6. Results • Able to model any DH table • Pre-made DH tables: • Tester • Scara • Example from Class • Puma 560 • Puma 260

  7. GUI 0

  8. GUI 1

  9. GUI 2

  10. GUI 3 (The Robot)

  11. Tester Robot • Random DH table I made up to build the code

  12. SCARA Robot

  13. Class Example Robot

  14. Puma 560

  15. Puma 260

  16. Limitations • I built the simulator with MATLAB student version R2009a. • uitable does not work in 2007 and earlier • No link data: draw just a cylinder or a box with dimensions based on d and a parameters • No end-affecter data, made a default • No base data, made a default • Scale can be adjusted • Multiple button presses during an animation usually cause errors

  17. Possible Future Work • Make more compatible with previous MATLAB versions • Add on an end affecter ‘trail’ as in Puma3D simulator • Add on more parameters: range of motion for each joint. (default values for now) • Stabilize the program for multiple button presses

  18. Conclusion • Lodes Robot Simulator is an excellent tool to visualize the construction and animation of any robot • Robots were adequately modeled and animated

More Related