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Simulink Based Robot Arm Control Workstation

Simulink Based Robot Arm Control Workstation. By Adam Vaccari and Kain Osterholt Advisor: Dr. Dempsey 12/02/04. Presentation Outline. Project Summary Overall Block Diagram Subsystems Experimental Results/Verification SimMechanics Projected Schedule. Project Summary.

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Simulink Based Robot Arm Control Workstation

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  1. Simulink Based Robot Arm Control Workstation By Adam Vaccari and Kain Osterholt Advisor: Dr. Dempsey 12/02/04

  2. Presentation Outline • Project Summary • Overall Block Diagram • Subsystems • Experimental Results/Verification • SimMechanics • Projected Schedule

  3. Project Summary The design of a software-based control workstation using Simulink and MATLAB with the Quanser SRV02 robot arm system modeled in the SimMechanics toolbox

  4. Overall Block Diagram

  5. Input Subsystem • Joystick Control – Input signal from Microsoft Sidewinder 2 Force Feedback Joystick • Software Control – Consists of test signals generated from software

  6. Plant Subsystem La – Armature Inductance Kt – DC motor torque constant Kv – DC motor back EMF constant J – Mechanical Inertia B – Mechanical Resistance

  7. Controller Subsystem F – Feed forward controller Gc – PID (Proportional Integral Derivative) controller Gp – Quanser Robot Arm Subsystem H – Position Sensor A/D D/A – Analog and Digital PC interface

  8. Experimental Results • Created linear model of DC motor and gear train in Simulink • Designed proportional controller • Gathered step response percent overshoot vs. Kp

  9. Graphical Results Experimental Step Response Simulink Step Response Kp=0.3

  10. SimMechanics Generic Inverted Robot Arm Model

  11. MATLAB Graphics

  12. Schedule

  13. Questions?

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