Kinematic and Dynamic Analysis and Control of articulated systems <br />Robotic Manipulation and Mobility (MAE 413/513) - ...
Contents<br /><ul><li>Introduction/Motivation
 ThreeRR Manipulator Modeling and Control
 Phantom Modeling and Control
 Simulation Results
 GUI Implementation
Symbolic Modeling Using MapleSim</li></li></ul><li>Introduction/Motivation<br /><ul><li>Parallel Devices -industrial appli...
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. </li></li></ul><li>Hapti...
Force feedback
Teleoperation
Assistive Surgery </li></li></ul><li>ThreeRR Manipulator Modeling and Control <br />Kinematic Analysis:<br />Kinematic Con...
Dynamic Modeling: Lagrangian Formulation<br />,<br />Treat ThreeRR linkage as being composed of three dyads of two link ma...
The EOM for combined overall system can be constructed as follows:<br />Dynamic Control:<br />No Control<br />Joint Contro...
Simulation Results<br />Trajectory Tracking<br />Task Control<br />No Control<br />Joint Control<br />
Phantom: Simplified <br />
Phantom: Modeling and Control<br />Kinematic Analysis<br />
Kinematic Control<br />Case1: No Control<br />Case1: Task Control<br />CAD Model of Phantom<br />
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Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

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Kinematic and Dynamic Modeling, Analysis and Control of Articulated Mechanical Systems

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

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