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Design of a Simulink 2-DOF Robot Arm Control Workstation. By: Chris Edwards and Emberly Smith Advisor: Dr. Dempsey 3/1/07. Presentation Outline. Project Summary Previous Work Project Goals Functional Description, Requirements, and _ Specifications Overall Block Diagram and Subsystems

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design of a simulink 2 dof robot arm control workstation

Design of a Simulink 2-DOF Robot Arm Control Workstation

By: Chris Edwards and Emberly Smith

Advisor: Dr. Dempsey

3/1/07

presentation outline

Presentation Outline

Project Summary

Previous Work

Project Goals

Functional Description, Requirements, and _Specifications

Overall Block Diagram and Subsystems

Controllers

Equipment and Parts List

Project Schedule

GUI

VR Workstation

SimMechanics Modeling

Remaining Objectives

Questions and Discussion

project summary

Project Summary

2-DOF robot arm control __workstation

Designed in Simulink __environment

Mimics Quansar workstation

Controller design

previous work

Vaccari and Osterholt’s Project Achievements

  • Modeling the robot arm in SimMechanics Toolbox
  • Designing closed-loop controllers
  • Real time visualization using the Virtual Reality __Toolbox
  • Implementing force feedback joystick control
  • Note: Non-inverting configuration was used with no load.

Previous Work

primary project goals
Primary Project Goals
  • Add rotary flexible joint to the existing system model
  • Validate new model through experimental results
  • System ID for designing controllers
  • Design closed-loop controllers for 2-DOF robot arm
    • Single-loop position controller
    • Double-loop position/velocity controller
    • Feed-forward controller
  • Make additions to previous virtual reality workstation
secondary project goals
Secondary Project Goals
  • Design advanced controller for the 2-DOF robot arm
  • Investigate different robot arm configurations
    • Level
    • Inverted
    • Non-inverted
functional description
Functional Description

Mass-Damper-Spring System

  • Mass
    • Arm
    • Gripper
    • Load
  • Damper
    • Friction will act as the damper
  • Spring
    • Springs attach the robot arm to the base
presentation outline10

Presentation Outline

Project Summary

Previous Work

Project Goals

Functional Description, Requirements, and _Specifications

Overall Block Diagram and Subsystems

Controllers

Equipment and Parts List

Project Schedule

GUI

VR Workstation

SimMechanics Modeling

Remaining Objectives

Questions and Discussion

equipment and parts list

Equipment and Parts List

Quansar Workstation

Wingman Attack 2 Joystick

Software

SimMechanics

Simulink

Guide

Virtual Reality Toolbox

progress

Progress

Completed the Model for the 1-DOF Level _Arm Configuration

Finished Basic Layout for GUI

Developed a Basic Understanding of VR __Workstation and made adjustments

Currently in the Process of Adding the Rotary _Flexible Joint into the SimMechanics Model

presentation outline26

Presentation Outline

Project Summary

Previous Work

Project Goals

Functional Description, Requirements, and _Specifications

Overall Block Diagram and Subsystems

Controllers

Equipment and Parts List

Project Schedule

GUI

VR Workstation

SimMechanics Modeling

Remaining Objectives

Questions and Discussion

coordinate systems
Coordinate Systems

X

Y

Z

World

Non-Inverted Arm Configuration

Gravity Vector

[0, 0, 9.8] m/s²

slide29

Coordinate Systems

Y

Z

World

X

Level Arm Configuration

Gravity Vector

[0, -9.8, 0] m/s²

rotary joint with springs
Rotary Joint with Springs

Body Anchor Points: Both A

r: 3.18 cm

d: 3.18 cm

Arm Anchor Point: 3

R = 7.60 cm

Spring Type: 1

Length: 2.54 cm

Spring Constant: 220 N/m

remaining modeling objectives
Remaining Modeling Objectives
  • Measure Friction in Rotary Joint from Experimental Workstation
  • Add Negative Feedback Path for Friction
  • Add New Sensors for Robot Arm Position and Velocity
  • Test and Verify SimMechanics Model