Simulink Based Robot Arm Control Workstation By Adam

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

Presentation Outline • Introduction • Sim. Mechanics Plant Model • Force Feedback • Virtual Reality • Schedule

Introduction Goals 1. Model Robot Arm in Sim. Mechanics 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

Sim. Mechanics Model

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

Model Evaluation Results for Drop From 30 degrees: Ts = 1. 59 sec Experimental Sim. Mechanics

Model Evaluation Drop Angle Actual System Sim. Mechanics 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%

Sim. Mechanics Model Gain (Deg/Volt) Position (deg) Voltage (V) 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

Force Feedback Joystick Logitech Wingman Strike Force 3 D Force Feedback Joystick • Send command inputs to robot arm • Provide feedback about environment arm is operating in

Simple Application Inverted Pendulum Objective: Keep Arm Upright Ө • 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 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 using VR Toolbox 7 -8 Design Digital Controllers 9 Joystick Applications 10 MATLAB GUI (Graphical User Interface) 11 Preparation for EXPO 12 Final Report Model Gripper Arm

Questions?