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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

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MATLAB Robot Simulator

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  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

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