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Design of a Simulink 2-DOF Robot Arm Control Workstation

Design of a Simulink 2-DOF Robot Arm Control Workstation. By: Chris Edwards and Emberly Smith Advisor: Dr. Dempsey 3/1/07. Presentation Outline. Project Summary Previous Work Project Goals Functional Description, Requirements, and _ Specifications Overall Block Diagram and Subsystems

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Design of a Simulink 2-DOF Robot Arm Control Workstation

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  1. Design of a Simulink 2-DOF Robot Arm Control Workstation By: Chris Edwards and Emberly Smith Advisor: Dr. Dempsey 3/1/07

  2. Presentation Outline Project Summary Previous Work Project Goals Functional Description, Requirements, and _Specifications Overall Block Diagram and Subsystems Controllers Equipment and Parts List Project Schedule GUI VR Workstation SimMechanics Modeling Remaining Objectives Questions and Discussion

  3. Project Summary 2-DOF robot arm control __workstation Designed in Simulink __environment Mimics Quansar workstation Controller design

  4. Vaccari and Osterholt’s Project Achievements • Modeling the robot arm in SimMechanics Toolbox • Designing closed-loop controllers • Real time visualization using the Virtual Reality __Toolbox • Implementing force feedback joystick control • Note: Non-inverting configuration was used with no load. Previous Work

  5. Primary Project Goals • Add rotary flexible joint to the existing system model • Validate new model through experimental results • System ID for designing controllers • Design closed-loop controllers for 2-DOF robot arm • Single-loop position controller • Double-loop position/velocity controller • Feed-forward controller • Make additions to previous virtual reality workstation

  6. Secondary Project Goals • Design advanced controller for the 2-DOF robot arm • Investigate different robot arm configurations • Level • Inverted • Non-inverted

  7. Functional Description Mass-Damper-Spring System • Mass • Arm • Gripper • Load • Damper • Friction will act as the damper • Spring • Springs attach the robot arm to the base

  8. Mechanical Specifications

  9. Controller Calculation Times

  10. Presentation Outline Project Summary Previous Work Project Goals Functional Description, Requirements, and _Specifications Overall Block Diagram and Subsystems Controllers Equipment and Parts List Project Schedule GUI VR Workstation SimMechanics Modeling Remaining Objectives Questions and Discussion

  11. Overall Block Diagram

  12. Plant Subsystem

  13. Position Controller

  14. Position/Velocity Controller

  15. FF/Position/Velocity Controller

  16. Equipment and Parts List Quansar Workstation Wingman Attack 2 Joystick Software SimMechanics Simulink Guide Virtual Reality Toolbox

  17. Initial Project Schedule

  18. Progress Completed the Model for the 1-DOF Level _Arm Configuration Finished Basic Layout for GUI Developed a Basic Understanding of VR __Workstation and made adjustments Currently in the Process of Adding the Rotary _Flexible Joint into the SimMechanics Model

  19. Revised Project Schedule

  20. Previous Workstation Design

  21. Matlab’s Guide

  22. GUI Layout

  23. VR Workstation

  24. V-Realm Builder

  25. Virtual Reality Workstation

  26. Presentation Outline Project Summary Previous Work Project Goals Functional Description, Requirements, and _Specifications Overall Block Diagram and Subsystems Controllers Equipment and Parts List Project Schedule GUI VR Workstation SimMechanics Modeling Remaining Objectives Questions and Discussion

  27. Revised Project Schedule

  28. Coordinate Systems X Y Z World Non-Inverted Arm Configuration Gravity Vector [0, 0, 9.8] m/s²

  29. Coordinate Systems Y Z World X Level Arm Configuration Gravity Vector [0, -9.8, 0] m/s²

  30. VR Robot Arm Model

  31. VR Gear Train Model

  32. SimMechanics Model

  33. 1-DOF Robot Arm Model

  34. Rotary Joint with Springs Body Anchor Points: Both A r: 3.18 cm d: 3.18 cm Arm Anchor Point: 3 R = 7.60 cm Spring Type: 1 Length: 2.54 cm Spring Constant: 220 N/m

  35. 2-DOF Robot Arm Model

  36. Remaining Modeling Objectives • Measure Friction in Rotary Joint from Experimental Workstation • Add Negative Feedback Path for Friction • Add New Sensors for Robot Arm Position and Velocity • Test and Verify SimMechanics Model

  37. Questions?

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