Advanced Robotics - Control and Trajectory Planning for a Motoman MH3F Robot - Engineering Assessment Answer

Engineering Assessment Task

In this project students are required to work in groups (no more than 3 students) to

1. Build a dynamic model of the first 3 degree of freedom (DOF) of the robot using MATLAB’s Simscape – using the dynamic parameters given in the table below. Design PID controllers and incorporate them in the Simulink model to control the robot

2. Design a cartesian trajectory planner for the first 3 degrees of freedom of the robot to move a straight line between the initial and final cartesian locations defined by users. The system developed should be implemented in SIMULINK and should allow the user to specify the following: 1. Desired initial and final locations of the end-effector in Cartesian space (either in metres or in millimetres).

3. Robot speed as a percentage of the nominal maximum linear speed (It is assumed that the maximum linear speed of the robot is 0.3 m/s and can be achieved instantaneously).

4. Plots are required: i.e., actual and desired joint positions and the wrist centre positions in Cartesian space vs. time, and tracking errors (in both joint and Cartesian space) vs. time.

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