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
• 12/02/04

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Presentation Outline

• Project Summary
• Overall Block Diagram
• Subsystems
• Experimental Results/Verification
• SimMechanics
• Projected Schedule

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Project Summary
The design of a software-based control
workstation using Simulink and MATLAB with the
Quanser SRV02 robot arm system modeled in the
SimMechanics toolbox
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Overall Block Diagram
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Input Subsystem

• Joystick Control Input signal from Microsoft
  Sidewinder 2 Force Feedback Joystick
• Software Control Consists of test signals
  generated from software

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Plant Subsystem
La Armature Inductance Kt DC motor torque
constant Kv DC motor back EMF constant J
Mechanical Inertia B Mechanical Resistance
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Controller Subsystem
F Feed forward controller Gc PID
(Proportional Integral Derivative) controller Gp
Quanser Robot Arm Subsystem H Position
Sensor A/D D/A Analog and Digital PC interface
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Experimental Results

• Created linear model of DC motor and gear train
  in Simulink
• Designed proportional controller
• Gathered step response percent overshoot vs. Kp

Kp Experimental Overshoot Simulation Overshoot
0.1 none 0.51
0.2 10.45 25.14
0.3 33.3 54.04
0.4 saturation 81.7
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Graphical Results
Simulink Step Response
Experimental Step Response
Kp0.3
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SimMechanics
Generic Inverted Robot Arm Model
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MATLAB Graphics
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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 Gripper Attachment Design Analog Controllers
7-8 Model using VR Toolbox Design Digital Controllers
9 Model Sensors Model H-Bridge, PWM
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?