EEEE3120: Control System and System Dynamics 2020- 2021 Module Convenor: Ts. Dr. Vimal Rau Aparow
Coursework: Exploration of Forward and Inverse Kinematic Using the Articulated Robotic Manipulator
Overview
This course work counts towards 20% of the module total. Upon completion of the tasks below you will be required to submit a short report summarising the work you have done and this report should be between 6-10 pages. You will also be expected to demonstrate the solution of the Tower of Hanoi puzzle for n = 3 discs (a solution requires 2n-1 steps). Meeting the objectives for tasks 1 to 5 counts for 50% of the course work total, tasks 6 to 9 (i.e. solving the puzzle) counts for the remaining 50%.
Figure 1: Towers of Hanoi Puzzle using 3 discs. [https://en.wikipedia.org/wiki/Tower_of_Hanoi]
Objectives:
1. Understand the kinematic chain of the articulated robotic manipulator
2. To describe the forward kinematic algorithm
3. To implement the inverse kinematic solution to complete a pick and place task.
Tasks:
1. Describe and specify the robot:
o Define the robot type, structure and configuration.
o Find the payload, Operation Range, accuracy, and the four components of the robot. o Discuss how many control loops are used.
o What types of actuators are used?
o What type of sensors the output of the control loop.
o What type control structure configuration is required to control a robotic manipulator
2. Give examples of industrial applications that this type of robot might be used. Based on the example given, select a suitable articulated robot for this task. Discuss the advantages/disadvantages of the selected robot and how this robot can be applicable for this task.
3. Define the D-H convention parameters and matrix of the robot forward kinematic.
4. Using the Robotics Toolbox in Matlab 2020a/2020b version, write code to represent the robot and then animate continuous movements.
EEEE3120: Control System and System Dynamics 2020- 2021 Module Convenor: Ts. Dr. Vimal Rau Aparow
5. Understand the Tower of Hanoi puzzle. Write a pseudocode to plan a path for picking and placing the disks from the initial rod to the target rod by avoiding obstructions in the way. In the current lab set up, you are expected to create the obstructions as well as initial and target points in order to arrange the disks in the correct order.
6. Write a function in Matlab to calculate the Inverse Kinematic of the articulated robot. The function is expectedto take three parameters (X, Y, Z) coordinates of the target position, and return the DoFs (joint variables)values of the robot.
7. Execute and demonstrate the program. Include the code in your report. Notes: the code needs to be documented through comments and well organised.
8. In Matlab, design a GUI that simulates the articulated robot and control it to complete a Tower of Hanoi puzzle for 3 discs. The robot should sort all the disks without being interrupted or acquiring additional inputs from the user while it is running. The robot should start and end in the home position. Make sure to consider the disk heights.
Submission:
Please submit your coursework as one zip file. It should contain/abide by the following:
1. Report in both word and pdf formats
2. Report must be submitted individually using IEEE format
3. All Matlab/Simulink code used in your coursework
4. Name the zip file as follows: Surname-student ID-EEEE3120Ass.zip
5. The maximum size for the file is 10MB
6. Submission through the Moodle portal only and no hardcopy submission is required!
7. The coursework is due 6.00pm on Friday 14th May 2021. Late submission is 5% per day.
Good luck!