Design of a Simulink 2-DOF Robot Arm Control Workstation

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Design of a Simulink 2-DOF Robot Arm Control
Workstation

• By Chris Edwards and Emberly Smith
• Advisor Dr. Dempsey
• 3/1/07

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Presentation Outline

• Project Summary
• Previous Work
• Project Goals
• Functional Description, Requirements, and
  _Specifications
• Overall Block Diagram and Subsystems
• Controllers
• Equipment and Parts List
• Project Schedule
• GUI
• VR Workstation
• SimMechanics Modeling
• Remaining Objectives
• Questions and Discussion

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Project Summary

• 2-DOF robot arm control __workstation
• Designed in Simulink __environment
• Mimics Quansar workstation
• Controller design

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Previous Work

• Vaccari and Osterholts Project Achievements
• Modeling the robot arm in SimMechanics Toolbox
• Designing closed-loop controllers
• Real time visualization using the Virtual Reality
  __Toolbox
• Implementing force feedback joystick control
• Note Non-inverting configuration was used with
  no load.

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Primary Project Goals

• Add rotary flexible joint to the existing system
  model
• Validate new model through experimental results
• System ID for designing controllers
• Design closed-loop controllers for 2-DOF robot
  arm
• Single-loop position controller
• Double-loop position/velocity controller
• Feed-forward controller
• Make additions to previous virtual reality
  workstation

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Secondary Project Goals

• Design advanced controller for the 2-DOF robot
  arm
• Investigate different robot arm configurations
• Level
• Inverted
• Non-inverted

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Functional Description

• Mass-Damper-Spring System
• Mass
• Arm
• Gripper
• Load
• Damper
• Friction will act as the damper
• Spring
• Springs attach the robot arm to the base

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Mechanical Specifications
Mechanical System
Position Accuracy 2
Velocity Accuracy 5/sec
O.S. 5
Ts 2 sec
Tp 1 sec
Phase Margin (PM) 50
Gain Margin (GM) 4
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Controller Calculation Times
Controllers Controllers Calculation Time
1 Proportional (P) Controller Proportional Derivative (PD) Controller Proportional Integral Derivative (PID) Controller lt 500µs
2 PID-Type with Feed Forward (F.F.) Control lt 800µs
3 Type-2 Controller with Velocity Control Loop lt 1 ms
4 Type-2 Controller with Torque Control Loop lt 1 ms
5 Type-3 and 4 Controllers Combined lt 1.1 ms
6 Advanced Control State-Variable Control Disturbance Rejection Control lt 2 ms
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Presentation Outline

• Project Summary
• Previous Work
• Project Goals
• Functional Description, Requirements, and
  _Specifications
• Overall Block Diagram and Subsystems
• Controllers
• Equipment and Parts List
• Project Schedule
• GUI
• VR Workstation
• SimMechanics Modeling
• Remaining Objectives
• Questions and Discussion

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Overall Block Diagram
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Plant Subsystem
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Position Controller
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Position/Velocity Controller
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FF/Position/Velocity Controller
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Equipment and Parts List

• Quansar Workstation
• Wingman Attack 2 Joystick
• Software
• SimMechanics
• Simulink
• Guide
• Virtual Reality Toolbox

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Initial Project Schedule
Weeks Chris Edwards Emberly Smith
1-3 SimMechanics Model GUI Design
4-5 System ID of Level-Arm System and Model Validation System ID of Level-Arm System and Model Validation
6 Velocity/Position Controller Feed-Forward Controller
7 FF/Velocity/Position Controller Notch Filter Design
8 Load Testing and Add Joystick to Quansar System Load Testing and Add Joystick to Quansar System
9 Modify Virtual Reality Workstation Modify Virtual Reality Workstation
10-12 Advanced Controller and Other Arm Configurations Advanced Controller and Other Arm Configurations
13-14 Final Preparations Reports, Presentation, EXPO, etc. Final Preparations Reports, Presentation, EXPO, etc.
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Progress

• Completed the Model for the 1-DOF Level _Arm
  Configuration
• Finished Basic Layout for GUI
• Developed a Basic Understanding of VR _
  _Workstation and made adjustments
• Currently in the Process of Adding the Rotary
  _Flexible Joint into the SimMechanics Model

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Revised Project Schedule
Weeks Chris Edwards Emberly Smith
1-3 Completing Level-Arm Configuration of 1-DOF Model Developing GUI Format Taking Experimental Data
4-5 Adding Rotary Flexible Joint to SimMechanics Model Programming GUI Investigating VR Workstation
6 Testing and Verifying 2-DOF Model Finishing GUI
7-9 Developing Controllers to Improve System Performance Developing Controllers to Improve System Performance
10 Finish VR Workstation Finish VR Workstation
11-12 Load Testing and Add Joystick to Quansar System Load Testing and Add Joystick to Quansar System
13-14 Final Preparations Reports, Presentation, EXPO, etc. Final Preparations Reports, Presentation, EXPO, etc.
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Previous Workstation Design
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Matlabs Guide
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GUI Layout
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VR Workstation
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V-Realm Builder
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Virtual Reality Workstation
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Presentation Outline

• Project Summary
• Previous Work
• Project Goals
• Functional Description, Requirements, and
  _Specifications
• Overall Block Diagram and Subsystems
• Controllers
• Equipment and Parts List
• Project Schedule
• GUI
• VR Workstation
• SimMechanics Modeling
• Remaining Objectives
• Questions and Discussion

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Revised Project Schedule
Weeks Chris Edwards Emberly Smith
1-3 Completing Level-Arm Configuration of 1-DOF Model Developing GUI Format Taking Experimental Data
4-5 Adding Rotary Flexible Joint to SimMechanics Model Programming GUI Investigating VR Workstation
6 Testing and Verifying 2-DOF Model Finishing GUI
7-9 Developing Controllers to Improve System Performance Developing Controllers to Improve System Performance
10 Finish VR Workstation Finish VR Workstation
11-12 Load Testing and Add Joystick to Quansar System Load Testing and Add Joystick to Quansar System
13-14 Final Preparations Reports, Presentation, EXPO, etc. Final Preparations Reports, Presentation, EXPO, etc.
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Coordinate Systems
X
Y
Z
World
Non-Inverted Arm Configuration Gravity Vector 0,
0, 9.8 m/s²
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Coordinate Systems
Y
Z
World
X
Level Arm Configuration Gravity Vector 0, -9.8,
0 m/s²
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VR Robot Arm Model
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VR Gear Train Model
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SimMechanics Model
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1-DOF Robot Arm Model
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Rotary Joint with Springs
Body Anchor Points Both A r 3.18 cm d
3.18 cm Arm Anchor Point 3 R 7.60 cm Spring
Type 1 Length 2.54 cm Spring Constant
220 N/m
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2-DOF Robot Arm Model
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Remaining Modeling Objectives

• Measure Friction in Rotary Joint from
  Experimental Workstation
• Add Negative Feedback Path for Friction
• Add New Sensors for Robot Arm Position and
  Velocity
• Test and Verify SimMechanics Model

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Questions?