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 1.Model Robot Arm in SimMechanics Toolbox 2.Design Closed Loop Controllers 3.Implement Force Feedback Joystick Control 4.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

Model Evaluation Compare SimMechanics Model vs. Actual System Ө Arm Suspended at Angle Ө then Dropped Measured Settling Time (Time taken to reach 2% of Final Value)

Model Evaluation Results for Drop From 30 degrees: Experimental SimMechanics Ts = 1.59 sec

Model Evaluation Drop Angle Actual SystemSimMechanics ModelError 20°1.38 secs1.846 secs25.2% 45°1.46 secs1.885 secs22.5% 90°1.18 secs2.015 secs41.1%

SimMechanics Model Gain Position (deg) Voltage (V) Gain (Deg/Volt) * * * 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 Ө Inverted Pendulum Objective: Keep Arm Upright Joystick Applies Torque Feedback Force Proportional to 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

Video Clip of 90 Degree Drop

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

Questions?