Modeling, simulation and control of a two link serial robot with Matlab and Simulink
Keywords:
2Rrobot, kinematic control, serial robotics, educational roboticsAbstract
Relevant aspects of the kinematic position control of a serial two-link robot with revolute joints are presented. Presented formulation is supported with simulation and experimental results using the Matlab toolboxes Simulink and Simmechanics. Used hardware was built as course work of Mechatronic Engineering students. It integrated two linkages, two identical Maxon motors, to servo controllers and one EPOS2 circuit. Practical results simulated the drawing of a circle, a triangle and a rectangle, three key shapes in the industry manufacturing tasks or painting of industry elements. The joint error was lower than three degrees in the three cases, considered satisfactory for prototype hardware. The workspace error was calculated based on the real angles for the circle case. Developed control software for the Maxon motors is available on the internet (MathWorks File Exchange).
Article Metrics
Abstract: 992 HTML (Español (España)): 2315 PDF (Español (España)): 551 XML (Español (España)): 74References
Tsai, L., Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley Interscience, 1999.
Lorenzo, B, Modelling and Control of Robot Manipulators, Springer, 2000.
Corke, P., Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer, 2013.
Murray, R., Li, Z. y Sastry S., A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.
Lucca, A., Lucibello, L., Panzieri S. y Ulivi, G. Control experiments on a two-link robot with a flexible forearm. Proceedings, 29th Conf. on Decision and Control. Honolulu, HI, 2, 520-527, December 1990.
Berkemeier, M. y Fearing, R. Control of a two-link robot to achieve sliding and hopping gaits. Proceedings, IEEE Int. Conf. on Robotics and Automation. Nice, France, 286-291, May 1992.
Tsao, T. y Safonov, M. Unfalsified direct adaptive control of a two-link robot arm. Proceedings, IEEE Int. Conf. on Control Applications. Kohala Coast, HI, 1, 680-686, August 1999.
Kormushev, P., Demiris Y. y Caldwell, D. Encoderless position control of a two-link robot manipulator. Proceedings, IEEE Int. Conf. on Robotics and Automation. Seattle, WA, 943-949, May 2015.
Schulte, H. y Guelton, K. Modelling and simulation of two-link robot manipulators based on Takagi Sugeno fuzzy descriptor systems. Proceedings, IEEE Int. Conf. on Industrial Technology. Mumbai, India, 2692–2697, December 2006.
Wei, Y., Zhang, J., Hou, L., Jia, F. y Chang, Q. Backstepping Adaptive Fuzzy Control for Two-Link Robot Manipulator, Int. J. of Comp. Science Issues, 10(1), 303-308, 2013.
Chen, C., Wu, T. y Peng, C. Robust Trajectories Following Control of a 2-Link Robot Manipulator via Coordinate Transformation for Manufacturing Applications, J. Robotics and Computer-Integrated Manufacturing, 27(3), 569-580, 2011.
Weinreb, A. y Bryson, A.-Jr. Minimum-Time Control of a Two-Link Robot Arm, Annual Review in Automatic Programming, 13(2), 195-199, 1985.
Quanser 2-DOF Robot. Available on: http://www.quanser.com/products/2dof_robot [consulted on July 5, 2016].
Crane, C.-III and Duffy, J., Kinematic Analysis of Robot Manipulators, Cambridge University Press, Cambridge, 2008.
Norton, R., Diseño de Maquinaria: Síntesis y Análisis de Máquinas y Mecanismos, 4ta ed., McGraw-Hill, México, 2009.
Choi, S. y Newman, W. Design and evaluation of a laser-cutting robot for laminated, solid freeform fabrication. Proceedings, IEEE Int. Conf. of Robotics and Automation. San Francisco, CA, vol. 2, 1551-1556, April 2000.
Mohd, N., Haron, H. y Mohamad, A. Robotic modeling and simulation of palletizer robot using Workspace5. Proceedings, IEEE Computer Graphics, Imaging and Visualization. Bangkok, Thailand, 217-222, August 2007.
Andersen, R., Bogh, S., Moeslund, T. y Madsen, O. Intuitive task programming of stud welding robots for ship construction. Proceedings, IEEE Int. Conf. on Industrial Technology. Seville, Spain, 3302-3307, March 2015.
Xiaoshu, J. y Xichen, Y. Off-Line Programming of a Robot for Laser Re-Manufacturing, J. Tsinghua Science and Technology, 14(S1), 186-191, 2009.
Park, D., Park, C., Do, H., Choi, T. y Kyung, J. Development of dual arm robot platform for automatic assembly. Proceedings, Int. Conf. on Control, Automation and Systems. Gyeonggi-do, Korea, 319-321, October 2014.
Sintov, A. y Shapiro, A. Automatic design algorithm of a robotic end-effector for a set of sheet-metal parts. Proceedings, IEEE 7th Int. Conf. on Cybernetics and Intelligent Systems. Siem Reap, Cambodia, 19-24, July 2015.
Chen, H., Sheng, W., Xi, N., Song, M. y Chen, Y. Automated robot trajectory planning for spray painting of free-form surfaces in automotive manufacturing. Proceedings, IEEE Int. Conf. on Robotics and Automation. Washington, DC, vol. 1, 450-455, May 2002.
Kuhlenkotter, B., Scheele, C. y Hypki, A. Realization of the thermal coating and mechanical compacting processes based on industrial multi robot systems. Proceedings, Robotics ISR/ROBOTIK. Munich, Germany, 1-7, June 2010.
Tang, Y. y Chen, W. Tool trajectory planning of painting robot and its experimental. Proceedings, Int. Conf. on Mechatronics and Control. Jinzhou, China, 872-875, July 2014.
Chen, H. y Xi, N. Automated Tool Trajectory Planning of Industrial Robots for Painting Composite Surfaces, Int. J. Advanced Manufacturing Technology, 35(7), 680-696, 2008.
FANUC Painting and Coating Robots. Vailable on: http://www.autocells.com/painting-and-coating-robots-by-fanuc [consulted on July 5, 2016].
Jazar, R., Theory of Applied Robotics: Kinematics, Dynamics and Control, Springer, New York, USA, 2007.
Spong, M., Hutchinson, S. y Vidyasagar, M., Robot Modeling and Control, 1st ed., Wiley New York, USA, 2005.
Yime, E., Toolbox para el uso de controladores EPOS2 en Matlab, 2015, Colombia, Certificado de Registro de Soporte Lógico-Software No. 13-49-394, 30 de septiembre de 2015 (aplicación).
MathWorks File Exchange. Commanding Maxon Motors EPOS2 Motor Controller from MATLAB. Available in: https://www.mathworks.com/matlabcentral/fileexchange/53735-commanding-maxon-motors-epos2-motor-controller-from-matlab [consulted on July 5, 2016].
Wu, C. The kinematic error model for the design of robot manipulator. Proceedings, American Control Conference. San Francisco, CA, 497-502, June 1983.
Veitschegger, W. and Wu, C.H. Robot Accuracy Analysis based on Kinematics. IEEE J. of Robotics and Automation, RA-2(3), 171-179, 1986.
_
