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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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Simulink based robot arm control workstation l.jpg

Simulink Based Robot Arm Control Workstation

By Adam Vaccari and Kain Osterholt

Advisor: Dr. Dempsey

March 3, 2005


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Presentation Outline

  • Introduction

  • SimMechanics Plant Model

  • Force Feedback

  • Virtual Reality

  • Schedule


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Introduction

  • Goals

  • Model Robot Arm in SimMechanics Toolbox

  • Design Closed Loop Controllers

  • Implement Force Feedback Joystick Control

  • Real Time Visualization using the VR Toolbox


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Plant Model

Kt – DC motor torque constant

Kv – DC motor back EMF constant


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Plant Model

Kt – DC motor torque constant

Kv – DC motor back EMF constant


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SimMechanics Model


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SimMechanics Model


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SimMechanics Model


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SimMechanics Model


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SimMechanics Model


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SimMechanics Model


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SimMechanics Model


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SimMechanics Model


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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


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Model Evaluation

Results for Drop From 30 degrees:

Ts = 1.59 sec

Experimental SimMechanics


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Model Evaluation


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SimMechanics Model Gain

* Values taken as angle approaches 90 degrees


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Force Feedback Joystick

  • Logitech Wingman Strike Force3D Force Feedback Joystick

  • Send command inputs to robot arm

  • Provide feedback about environment arm is operating in


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Simple Application

  • Inverted Pendulum

  • Objective: Keep Arm Upright

    • Joystick Applies Torque

    • Feedback Force Proportional to Ө

Ө


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Simulink Model


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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


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Virtual Reality

VRML Tree


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Virtual Reality


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Virtual Reality


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Virtual Reality


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Virtual Reality


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Video Clip of 90 Degree Drop


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Video Clip of 90 Degree Drop


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Schedule


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Questions?


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