Post on 25-May-2015
Kinematic and Dynamic Analysis and Control of
articulated systems
Sasi Bhushan # 35763829Bryan Jones # 35762927
Robotic Manipulation and Mobility (MAE 413/513) -
Final Project
Contents
• Introduction/Motivation
• ThreeRR Manipulator Modeling and Control
• Phantom Modeling and Control
• Simulation Results
• GUI Implementation
•Symbolic Modeling Using MapleSim
Introduction/Motivation
•Parallel Devices -industrial applications which
require fast response
•Ability to carry heavier loads than a serial
manipulator, in the case of the 3RR manipulator.
•The Phantom-Haptic Device-applications in assistive
surgery, virtual reality, and rehabilitation.
Haptic Devices
•Devices are usually noted for to reproduce
the feel of human touch
•Force feedback
•Teleoperation
•Assistive Surgery
ThreeRR Manipulator Modeling and Control
CAD Model of ThreeRR Manipulator
Kinematic Analysis:
Kinematic Control:Case1: No Control
Case2: Joint Control
Case3: Task Control
Dynamic Modeling: Lagrangian Formulation
Treat ThreeRR linkage as being composed of three dyads of two link manipulators
EOM for the two link manipulators are derived separately and finally constraint them to obtain the overall EOM, where
For one Dyad,
,
Constraint Equations
The EOM for combined overall system can be constructed as follows:
Dynamic Control:
No Control
Joint Control
Simulation Results
Trajectory Tracking
No Control Joint ControlTask Control
Phantom: Simplified
Phantom: Modeling and ControlKinematic Analysis
Kinematic Control
CAD Model of Phantom
Case1: No Control
Case1: Task Control
Simulation Results
Trajectory Tracking
No Control Task Control
GUI Implementation
Symbolic Modeling
Modeling in MapleSim
Obtaining Symbolic multibody equations
Simulink Connectivity of MapleSim
Import SolidWorks Models to VR and Simulate
ThreeRR:MapleSim
ThreeRR in MapleSim
Simulink Model
Phantom:MapleSim
ConcludingRemarks
References
“Kinematics and Dynamics of Phantom™ Model 1.5 Haptic Interface”-Murat Cenk Cavusoglu, David Feygen.