1. Simulink Based Robot Arm Control Workstation By Adam Vaccari and Kain Osterholt Advisor: Dr. Dempsey March 3, 2005

2. Presentation Outline Introduction SimMechanics Plant Model Force Feedback Virtual Reality Schedule

3. 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

4. Plant Model Kt – DC motor torque constant Kv – DC motor back EMF constant

5. Plant Model Kt – DC motor torque constant Kv – DC motor back EMF constant

6. SimMechanics Model

14. 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)

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

16. 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%

17. SimMechanics Model Gain Position (deg) Voltage (V) Gain (Deg/Volt) 100.1946 200.38652.2466 300.55658.82353 400.71662.5 500.85671.42857 600.96690.90909 701.0456125.6281 801.096198.4127 901.113*588.2353* * Values taken as angle approaches 90 degrees

18. Force Feedback Joystick Logitech Wingman Strike Force3D Force Feedback Joystick Send command inputs to robot arm Provide feedback about environment arm is operating in

19. Simple Application Ө Inverted Pendulum Objective: Keep Arm Upright Joystick Applies Torque Feedback Force Proportional to Ө

20. Simulink Model

21. 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

22. Virtual Reality VRML Tree

23. Virtual Reality

27. Video Clip of 90 Degree Drop

29. 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

30. Questions?