Design of Simulink-Based 2-DOF Robot Arm Control Workstation

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1、DesignofSimulink-Based2-DOFRobotArmControlWorkstationSeniorProjectProposalBy:ChrisEdwards&EmberlySmithProjectAdvisor:Dr.GaryDempseyDate:December7,2006Page1IntroductionThedesignoftheSimulink-based2-degree-of-freedom(2-DOF)robotarmcontrolworkstationwillallowtheusertoanalyzethedif

2、ferentsubsystemsofthemodelusingagraphicaluserinterface.Thisprojectwillexpandonthepreviousdevelopmentofa1Simulink-BasedControlWorkstationdesignedbyAdamVaccariandKainOsterholt.PriorworkonmodelingtheQuanserworkstationhastreatedtherobotarmasaclassical2pendulum.Indoingthis,thespring

3、swereremovedfromthemodelanditwastreatedasifthearmwasfixedtothebase.Thenewdesignwillincludetheeffectofthespringsinordertomodelthemovementoftherobotarmindependentfromthebase.Thisaddsanotherdegreeoffreedomtotheexistingmodel.CurrentProjectGoals•PrimarygoalsoAddrotaryflexiblejointto

4、theexistingsystemmodeloValidatenewmodelthroughexperimentalresultsoSystemidentificationfordesigningcontrollersoDesignclosed-loopcontrollersfor2-DOFrobotarm°Single-looppositioncontroller°Double-loopposition/velocitycontroller°FeedforwardcontroloImplementcontrollerswithMathworksRe

5、al-TimeWorkshop•SecondarygoalsoDesignadvancedcontrollerforthe2-DOFrobotarmoInvestigatedifferentrobotarmconfigurations°Level°Inverted°Non-invertedoMakeadditionstopreviousvirtualrealityworkstationThenewjointwillbecomposedofamass-damper-springsystem.Inthistermthemassisreferringtot

6、hearm,gripper,andload.Frictioninthejointwillactasthedamper,andthespringsareattachedtothearmasseeninFigure1.SystemidentificationwillbeaccomplishedviatheSimMechanicsmodelandthenpossiblybymoredetailedmeansifnecessary.Thecontrollersforthisdesignarediscussedindetailundertheblockdiag

7、ramsheading.TherobotarmconfigurationshowninFigure1isnon-inverted.Aninvertedorobotarmwouldbe180fromtheangleshown,pointingstraightupintheair.Alevelarmwouldrequiretheapparatustobearrangedsuchthatthearmcouldswinghorizontally.Theinitialdesignwillbeginwiththelevelconfigurationandothe

8、rconfigurationswillbeconsideredastimeprogresses.Page2F