Design a cartesian trajectory planner

Reference no: EM132303028

Advanced Robotics Project - Control and Trajectory Planning for a Motoman MH3F robot

Figure 1 shows a Motoman MH3F robot. This is a computer controlled six-joint robot, driven by six servomotors. The geometrical parameters of the MH3F are given in Figure 1(b). (Note- Figures are in attached file).

In this project students are required to work in groups 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).

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 (attached). Assume that the inertial properties provided for link 3 incorporates those for links 4-6.

Assessment Schedule and Requirements: The final demonstrations of the completed projects, you are required to demonstrate:

A dynamic model of the first 3DOF of the robot in Simulink using Simscape with PID joint controllers to control the robot to follow desired trajectories.
Cartesian space trajectory planner for the first 3DOF of the MH3F robot. The planner needs to accept user specified initial and final cartesian positions.
Test the generated trajectory on the Simulink model to compare the desired and actual trajectory of the wrist centre of the robot.

The group report should contain at least the following aspects:

Aim of the project.
Methodologies, detailed equations and calculations used in designing the dynamic model and trajectory planner.
MATLAB/SIMULINK programs used in the project.
Plots/outputs that demonstrate the effectiveness of the controller/planner.
Conclusions

Explained clearly what need in this project -

1. Build a dynamic model of the first 3 degree of freedom (DOF) using the dynamic parameters given in the table. 2.Report should have

Aim of the project.
Methodologies, detailed equations and calculations used in designing the dynamic model and trajectory
planner.
MATLAB/SIMULINK programs used in the project.
Plots/outputs that demonstrate the effectiveness of the controller/planner.
Conclusions

3. Report should explain and depict:

A dynamic model of the first 3DOF of the robot in Simulink using Simscape with PID joint controllers to control the robot to follow desired trajectories.
Cartesian space trajectory planner for the first 3DOF of the MH3F robot. The planner needs to accept user specified initial and final cartesian positions.
Test the generated trajectory on the Simulink model to compare the desired and actual trajectory of the wrist centre of the robot.

4. Note:

a) The system developed should be implemented in SIMULINK and should allow the user to specify the following:

Desired initial and final locations of the end-effector in Cartesian space (either in metres or in millimetres).
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).
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.

b) 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.

Attachment:- Assignment Files.rar

Reference no: EM132303028

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Design a cartesian trajectory planner : 300599 Advanced Robotics Project - Control and Trajectory Planning for a Motoman MH3F robot, Western Sydney University, Australia

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Reviews

len2303028

5/10/2019 4:31:33 AM

Open two attached files to know clearly about this assignment. In simple structure file, I explained clearly what I need in this project. Submit the softcopy of your project report (in PDF or MS Word format) and software codes. You are required to work in groups of two to three students each. Group members should be familiar with all aspects of the project. Assessment Schedule and Requirements: Learning on using MATLAB Simscape in building the Simulink model of a non-planar robot (10%). Assessment time – Lecture and tutorial in Week 8.

5/10/2019 4:31:21 AM

The final demonstrations of the completed projects are to be held during tutorials in Week 12 in your tutorial room. You are required to demonstrate: A dynamic model of the first 3DOF of the robot in Simulink using Simscape with PID joint controllers to control the robot to follow desired trajectories. (5%) Cartesian space trajectory planner for the first 3DOF of the MH3F robot. The planner needs to accept user specified initial and final cartesian positions. (5%) Test the generated trajectory on the Simulink model to compare the desired and actual trajectory of the wrist centre of the robot. (10%).

5/10/2019 4:31:15 AM

The final written report should be no more than 20 A4 pages (pages exceeding the page limit will be penalised by 10% of full mark per page). The fonts used should not be smaller than 12 pts Times New Roman with margin of no less than 2cm on all sides. Marking criteria of the report can be found in the unit Learning Guide.

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