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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

Simulink Based Robot Arm Control Workstation

By Adam Vaccari and Kain Osterholt

Advisor: Dr. Dempsey

March 3, 2005

presentation outline
Presentation Outline
  • Introduction
  • SimMechanics Plant Model
  • Force Feedback
  • Virtual Reality
  • Schedule
introduction
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
Plant Model

Kt – DC motor torque constant

Kv – DC motor back EMF constant

plant model5
Plant Model

Kt – DC motor torque constant

Kv – DC motor back EMF constant

model evaluation
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 evaluation15
Model Evaluation

Results for Drop From 30 degrees:

Ts = 1.59 sec

Experimental SimMechanics

simmechanics model gain
SimMechanics Model Gain

* Values taken as angle approaches 90 degrees

force feedback joystick
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
Simple Application
  • Inverted Pendulum
  • Objective: Keep Arm Upright
    • Joystick Applies Torque
    • Feedback Force Proportional to Ө

Ө

future applications
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