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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 March 3, 2005 Presentation Outline Introduction SimMechanics Plant Model Force Feedback Virtual Reality Schedule Introduction Goals Model Robot Arm in SimMechanics Toolbox

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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 March 3, 2005

  2. Presentation Outline • Introduction • SimMechanics Plant Model • Force Feedback • Virtual Reality • Schedule

  3. Introduction • Goals • Model Robot Arm in SimMechanics Toolbox • Design Closed Loop Controllers • Implement Force Feedback Joystick Control • Real Time Visualization using the VR Toolbox

  4. Plant Model Kt – DC motor torque constant Kv – DC motor back EMF constant

  5. Plant Model Kt – DC motor torque constant Kv – DC motor back EMF constant

  6. SimMechanics Model

  7. SimMechanics Model

  8. SimMechanics Model

  9. SimMechanics Model

  10. SimMechanics Model

  11. SimMechanics Model

  12. SimMechanics Model

  13. SimMechanics Model

  14. Model Evaluation Compare SimMechanics Model vs. Actual System • Arm Suspended at Angle Ө then Dropped • Measured Settling Time • (Time taken to reach 2% of Final Value) Ө

  15. Model Evaluation Results for Drop From 30 degrees: Ts = 1.59 sec Experimental SimMechanics

  16. Model Evaluation

  17. SimMechanics Model Gain * Values taken as angle approaches 90 degrees

  18. Force Feedback Joystick • Logitech Wingman Strike Force3D Force Feedback Joystick • Send command inputs to robot arm • Provide feedback about environment arm is operating in

  19. Simple Application • Inverted Pendulum • Objective: Keep Arm Upright • Joystick Applies Torque • Feedback Force Proportional to Ө Ө

  20. Simulink Model

  21. Future Applications • Feedback Torque Due to Load • More resistance to movement as load increases • Training Program • Uses force feedback to “guide” joystick to correct position

  22. Virtual Reality VRML Tree

  23. Virtual Reality

  24. Virtual Reality

  25. Virtual Reality

  26. Virtual Reality

  27. Video Clip of 90 Degree Drop

  28. Video Clip of 90 Degree Drop

  29. Schedule

  30. Questions?

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