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Kinematic and Dynamic Analysis and Control of articulated systems Sasi Bhushan # 35763829 Bryan Jones # 35762927 Robotic Manipulation and Mobility (MAE 413/513) - Final Project

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Page 1: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Kinematic and Dynamic Analysis and Control of

articulated systems

Sasi Bhushan # 35763829Bryan Jones # 35762927

Robotic Manipulation and Mobility (MAE 413/513) -

Final Project

Page 2: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Contents

• Introduction/Motivation

• ThreeRR Manipulator Modeling and Control

• Phantom Modeling and Control

• Simulation Results

• GUI Implementation

•Symbolic Modeling Using MapleSim

Page 3: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

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.

Page 4: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Haptic Devices

•Devices are usually noted for to reproduce

the feel of human touch

•Force feedback

•Teleoperation

•Assistive Surgery

Page 5: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

ThreeRR Manipulator Modeling and Control

CAD Model of ThreeRR Manipulator

Kinematic Analysis:

Kinematic Control:Case1: No Control

Case2: Joint Control

Case3: Task Control

Page 6: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

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

Page 7: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

The EOM for combined overall system can be constructed as follows:

Dynamic Control:

No Control

Joint Control

Page 8: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Simulation Results

Trajectory Tracking

No Control Joint ControlTask Control

Page 9: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Phantom: Simplified

Page 10: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Phantom: Modeling and ControlKinematic Analysis

Page 11: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Kinematic Control

CAD Model of Phantom

Case1: No Control

Case1: Task Control

Page 12: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Simulation Results

Trajectory Tracking

No Control Task Control

Page 13: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

GUI Implementation

Page 14: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Symbolic Modeling

Modeling in MapleSim

Obtaining Symbolic multibody equations

Simulink Connectivity of MapleSim

Import SolidWorks Models to VR and Simulate

Page 15: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

ThreeRR:MapleSim

ThreeRR in MapleSim

Simulink Model

Page 16: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

Phantom:MapleSim

Page 17: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

ConcludingRemarks

Page 18: Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

References

“Kinematics and Dynamics of Phantom™ Model 1.5 Haptic Interface”-Murat Cenk Cavusoglu, David Feygen.


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