Simulink Based Robot Arm Control Workstation By Adam

Simulink Based Robot Arm Control Workstation By Adam Vaccari and Kain Osterholt Advisor: Dr. Dempsey 12/02/04

Presentation Outline • Project Summary • Overall Block Diagram • Subsystems • Experimental Results/Verification • Sim. Mechanics • Projected Schedule

Project Summary The design of a software-based control workstation using Simulink and MATLAB with the Quanser SRV 02 robot arm system modeled in the Sim. Mechanics toolbox

Overall Block Diagram

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

Plant Subsystem La – Armature Inductance Kt – DC motor torque constant Kv – DC motor back EMF constant J – Mechanical Inertia B – Mechanical Resistance

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

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%

Graphical Results Experimental Step Response Kp=0. 3 Simulink Step Response

Sim. Mechanics Generic Inverted Robot Arm Model

MATLAB Graphics

Schedule Week Kain Osterholt Adam Vaccari 1 -2 Joystick Force Feedback – Test with DC Motor Model 3 -4 Sim. Mechanics – 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) 11 Preparation for EXPO 12 Final Report

Questions?