SIMULINK_MATLAB_modeling -- 2

1. Build a dynamic model of the first 3 degree of freedom (DOF) of the robot using MATLAB’s Simscape

– using the dynamic parameters given in the table below. Design PID controllers and incorporate them

in the Simulink model to control the robot

2. Design a cartesian trajectory planner for the first 3 degrees of freedom of the robot to move a straight

line between the initial and final cartesian locations defined by users.

The system developed should be implemented in SIMULINK and should allow the user to specify the following:

1. Desired initial and final locations of the end-effector in Cartesian space (either in metres or in millimetres).

2. Robot speed as a percentage of the nominal maximum linear speed (It is assumed that the maximum

linear speed of the robot is 0.3 m/s and can be achieved instantaneously).

3. Plots are required: i.e., actual and desired joint positions and the wrist centre positions in Cartesian

space vs. time, and tracking errors (in both joint and Cartesian space) vs. time.

Compétences : Algorithme, Génie Électrique, Ingénierie, Matlab and Mathematica, Génie Mécanique

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Concernant l'employeur :
( 514 commentaires ) KANPUR, India

Nº du projet : #19677687

Décerné à:


Hi, I have done many Simscape projects and I am very confident that I can help you with this project. Please message me so that I can help you with the project. [login to view URL] Plus

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