FORWARD AND INVERSE KINEMATICS
For the case of simple robotics structures such as the one used in this Lab, it is possible to find the inverse kinematics model by only merely geometrical reasoning. That is what is implemented in InverseKinematicsUsingGeometry.m function. Use the InverseKinematics.m function so that no one of the robot joints leaves the robot workspace during the movement execution. Indication: use the possibility to choose what solution (Q1 (low elbow) or Q2 (high elbow)) to assign to the robot final position.
FORWARD AND INVERSE INSTANTANEOUS KINEMATICS
Knowing the Forward Instantaneous Kinematics Model (FIKM) of the SCARA robot given by ForwardInstantaneousKinematics.m function, program the Inverse Instantaneous Kinematics Model (IIKM) InverseInstantaneousKinematics.m. While interfacing your IIKM to the Simulink diagram, simulate a rectilinear displacement with constant speed of the end-effector according to its x axis (use the provided interface to observe the result).
It is imperative to manage correctly the singular robot configurations in order to warn all erratic movement of the robot. What are the singular positions of the studied robot? Use this knowledge so that the robot avoids these singular configurations. Indications:
• The only program to modify is the one where you defined the robot IIKM,
• For the singularities in the robot workspace limits, one can impose software stops of the robot angles evolutions in order to stop rightly before the configuration “completely tense arm” or “completely folded arm”.
TRAJECTORY GENERATION (WORKING AND JOINT SPACE CONFIGURATION)
Basing on the SetPointTrajectory.m function, give the end-effector a circular trajectory (with ray = 2 and center C=(0, 7.5)).
Basing on the Order1Interpolation.m file, write a 5 degrees interpolator generator for the SCARA robot between 2 points of the joint space qi=[100° 100°] to qf=[6° 60°].
ROBOT ARM CONTROL
This part of the Lab introduces the dynamical model of the SCARA robot in order to address some problematic linked to robot arm control. You will find below the description of a set of programs attached to those given previously.
ForwardDynamicalModel.m
Defines the acceleration of the robot joints according to the torques applied by its actuators.
SimulinkLabLibrary.mdl
Contains Simulink blocks to be used directly in your Lab.
SimulinkRobotControlWithDyMo.mdl
Simulink model that permits to use a PID controller to control the robot in the working space.
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