Reference no: EM132242100
Assignment Requirements -
The simulations will be accompanied by a document which contains all of the following information, along with other information which is important for the construction of the MATLAB work.
Design -
This section will include details of all designs for the robotic arm and robotic hand which will be used for the simulation. It will also include mathematical models for the inverse and forward kinematics.
Robotic Arm Model:
- 6 axis articulated robotic arm model
- 3D CAD model required for the MATLAB simulations - basic arm, not much detail required
- Detailed explanation into the different axis and joints of the arm and how they connect
- Include images of the arm and annotations to the joints as well as explanations of the images
Robotic Hand Model:
- 5 fingered anthropomorphic robotic hand design
- Follow DEXMART robotic hand design - 4.2 link 6
- Detailed explanation of the joints and axis within the hand, as well as how they work together
- Detailed explanation into how the hand and arm connect together, using the wrist of the robotic hand with the robotic arm wrist joint
- Include images of the hand and annotations to the joints as well as explanations of the images
Robotic Hand Grasping:
Detailed explanation into how the hand will grasp onto objects and ensure a solid grip is constant throughout the motion
Detailed explanation into the specifics regarding
- Grasp analysis
- Grasp planning
- Grasp control
Explain how constraints are avoided
- Such as collision and ensuring hand grasps object in correct place
- How to ensure the object doesn't go through the object
Refer to section 3 link 6.
Inverse/Forward Kinematic Modelling:
- Explanation into kinematic modelling including what it is and why it is used
- Explain the problem that needs to be solved with kinematic modelling
- Use Denavit Hartenberg convention
- Create the transformation matrices for the robotic arm using DH can use 4.2 of link 6 for help on how to specify to DEXMART hand but for the robotic arm it needs to be made manually.
- Refer to link 5 section 2.2
- Forward kinematics - include homogenous matrix to transform coordinates of a point from frame to frame (section 3.2 of link 5) Include DH parameters with arm joints for the robotic arm
- Inverse kinematics - Explain which approach is taken to solve inverse kinematics. Algebra or geometric approach (choice is open).
Path/Trajectory Planning:
- Compare the different mathematical methods that can be used to create path planning for the robotic arm
- Explain the velocity of the movements and how this was calculated
- Use Jacobian matrix (section 4.1 of link 5)
- Explain Jacobian and why it is useful for trajectory planning
- Detail into kinematic singularities using Jacobian on the robotic arm (section 4.2 link 5). Make sure it is catered to the robotic arm we are using and not the one in the example
- Detail into inverse velocity/acceleration with Jacobian (4.3 in link 5)
- Explain force/toque relationship (4.4 in link 5)
- Note - make sure this is customised to the robotic arm and hand
- Detailed explanation into trajectory planning and how it will be used for the robotic arm (section 5 link 5)
Implementation:
This section will focus on MATLAB and Simulink, discussing the methodologies implemented and the simulations created.
Software:
- Information regarding MATLAB, Robotics System Toolbox and Simulink, and how these were used to create the program.
Forward/Inverse Kinematic Models:
- Detailed explanation into how the mathematical equations and formulae within the design stage were implemented in MATLAB
- How the robotic arm and hand uses the joints to perform movement of the axes
- Include screenshots and annotations
- Include explanation of the code written
- Explanation of the work envelope of the robot arm and hand, as well as how this was calculated.
- Explain how the joint positions are calculated for the arm and hand
GUI:
- Screenshots and annotations of the GUI
- Explain how the GUI was implemented, including code and explanation of the code
- Explain the benefits of the way the GUI was created E.g. having each joints positions visible during the simulation
System Architecture:
System architecture that shows important info such as waypoint tracking details of objects and robotic arm
- Controller: Supervisory logic, determining joint positions (inverse kinematics), determining end-effector position (forward kinematics)
- Robot: Simulation
State flow charts of the simulations running with explanations.
Robot Arm Movements:
- Detailed explanation into the waypoint tracking algorithm used for the movements of the arm. Use the waypoint tracking algorithms within the robotic system toolbox
- Detailed explanation of how the robotic arm creates a path plan to point the end effector at the required object
- Include details such as initial position, end position and the way points within the path, as well as how these are all calculated
- Explain how the mathematical equations used in the design stage were implemented within MATLAB with explanations of all code used
Robot Hand Grasping:
- Detailed explanation of how the hand grasping mechanism was implemented and how it works within MATLAB
- How the constraints and all other factors were implemented
- Include explanation of all code used
- Include screenshots from MATLAB explaining the grasping mechanism with detail
Simulations:
Detailed explanation of how Command 1 was created
- Include explanation of all code
- How the path plan is created for the cutting simulation
- How the object was detected (link 4, 21:00 onwards)
Detailed explanation of how Command 2 was created
- Include explanation of all code
- How the path plan is created for the stirring, it should be a circular motion
- How the object was detected (link 4, 21:00 onwards)
Optimisation
- Optimisation algorithm which allows the robot to perform the simulation multiple times and uses this to reduce the cost function for torque overall (link 4, 16:00 onwards)
Outcomes
Graphs showing the trajectories of the robotic arm during the simulations - with detailed explanations of what is happening
- Transformation matrices with explanation and calculation
Results of the optimisation algorithm - with graphs and explanations.
Test cases for the simulation buttons, cover Normal values, Boundary values, Erroneous values. Include outcomes of the test cases with the simulations showing.
Explanation into the accuracy and repeatability of the simulations. Include mathematical equations used to calculate this.
Detailed information regarding the velocity and other measures which are used for the robotic arm.
C++ generated code of the models and explanations of how this works and why it is useful (link 4, 37:10 onwards).
Evaluation:
- Evaluate the methods used for robotic arm movements and grasping of robotic hand.
- Evaluate the method for the two simulations can be extended to perform more actions.
- Explanation of how the MATLAB work can be plugged into ROS.
- Explanation on how these simulations could be used within physical robots; steps required.
Deliverables - The MATLAB files along with a document with the required diagrams, designs and explanations as requested. I expect a write up of the simulations, including explanation on any difficult parts that will help me expand. I would like to screenshare and voice call for a walkthrough of everything.
Description -
1. MATLAB Simulink Environment containing a 3d CAD model of robotic arm with a GUI that allows the user to click on relevant buttons and make the robotic arm perform basic simulations.
2. Inverse and Forward Kinematic models showing rigid body trees with waypoints and trajectories of the joints + explanation of all methods and algorithms used. Along with path planning.
All mathematical calculations and models used must be explained with detail.
3. Complete code of the environment with comments - explanation of all code will also need to be provided. C++ generated code with explanations.
4. Walkthrough of the environment - showing how to use different features and how to edit the robot or any functions if required.
5. Word document with all explanations as requested.
6. Full list of references.
Attachment:- Assignment File.rar