Simulink based robot arm control workstation
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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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Presentation Transcript


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

  • Design Closed Loop Controllers

  • Implement Force Feedback Joystick Control

  • Real Time Visualization using the VR Toolbox


Plant Model

Kt – DC motor torque constant

Kv – DC motor back EMF constant


Plant Model

Kt – DC motor torque constant

Kv – DC motor back EMF constant


SimMechanics Model


SimMechanics Model


SimMechanics Model


SimMechanics Model


SimMechanics Model


SimMechanics Model


SimMechanics Model


SimMechanics Model


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


Model Evaluation

Results for Drop From 30 degrees:

Ts = 1.59 sec

Experimental SimMechanics


Model Evaluation


SimMechanics Model Gain

* Values taken as angle approaches 90 degrees


Force Feedback Joystick

  • Logitech Wingman Strike Force3D Force Feedback Joystick

  • Send command inputs to robot arm

  • Provide feedback about environment arm is operating in


Simple Application

  • Inverted Pendulum

  • Objective: Keep Arm Upright

    • Joystick Applies Torque

    • Feedback Force Proportional to Ө

Ө


Simulink Model


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


Virtual Reality

VRML Tree


Virtual Reality


Virtual Reality


Virtual Reality


Virtual Reality


Video Clip of 90 Degree Drop


Video Clip of 90 Degree Drop


Schedule


Questions?


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