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

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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 ? then Dropped
• Measured Settling Time
• (Time taken to reach 2 of Final Value)

?
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Model Evaluation
Results for Drop From 30 degrees
Ts 1.59 sec
Experimental SimMechanics
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Model Evaluation
Drop Angle Actual System SimMechanics Model Error
20 1.38 secs 1.846 secs 25.2
45 1.46 secs 1.885 secs 22.5
90 1.18 secs 2.015 secs 41.1
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SimMechanics Model Gain
Position (deg) Voltage (V) Gain (Deg/Volt)
10 0.1946
20 0.386 52.2466
30 0.556 58.82353
40 0.716 62.5
50 0.856 71.42857
60 0.966 90.90909
70 1.0456 125.6281
80 1.096 198.4127
90 1.113 588.2353
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 ?

?
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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
Week Kain Osterholt Adam Vaccari
1-2 Joystick Force Feedback Test with DC Motor Model Joystick Force Feedback Test with DC Motor Model
3-4 SimMechanics Model Inverted Robot Arm SimMechanics Model Inverted Robot Arm
5-6 Model using VR Toolbox Model Gripper Arm
7-8 Design Digital Controllers Design Digital Controllers
9 Joystick Applications Joystick Applications
10 MATLAB GUI (Graphical User Interface) MATLAB GUI (Graphical User Interface)
11 Preparation for EXPO Preparation for EXPO
12 Final Report Final Report
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Questions?