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MATLAB | MH3F - Advanced Robotics - Control and Trajectory Planning for a Motoman - Report Writing Assessment Answer
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Internal Code: E_AI_DHBG_ADI
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 millime-tres).
2. 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).
3. 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.
The robot simulator should be designed based on the assumed parameters of the robot given in Table 1. Assume that the inertial properties provided for link 3 incorporates those for links 4-6.
MATLAB Advanced Robotics Report Writing Assessment Answer
Assignment 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 millime-tres).
2. 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).
3. 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.
The robot simulator should be designed based on the assumed parameters of the robot given in Table 1. Assume that the inertial properties provided for link 3 incorporates those for links 4-6.
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