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<!DOCTYPE html>
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<title>ANIL HARISH - Task Level Controller for 6-Axis Robots</title>
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<h2>Task Level Controller for 6-Axis Robots</h2>
<hr>
<p>
<strong>Date:</strong> Fall 2017 |
<strong>Category:</strong> <a href="https://www.engr.colostate.edu/~dga/mech564/general_info.html"> MECH 564 </a> |
<strong>Affiliation:</strong> <a href="https://www.colostate.edu/">Colorado State University</a>
</p>
<p> <strong><a href="https://github.com/anilharish/Robotics/tree/master/Task_Level_Controller_6_Axis_Robots">Link to GitHub Repository</a></strong></p>
<p>
Evaluate the task level robot control method for PUMA 560 robot arm by computer simulations.
</p>
</div>
<div class="col-lg-12 centered">
<h3>Dependencies:</h3>
<br>
</div>
<div class="row mt centered">
<div class="col-lg-2 col-lg-offset-2 centered">
<img class="img-responsive" width="100" height="100" src="img/dep/c++.png" alt="">
</div>
<div class="col-lg-2">
<img class="img-responsive" width="300" height="100" src="img/dep/ros.png" alt="">
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<div class="col-lg-2">
<img class="img-responsive" width="400" height="100" src="img/dep/matlab.png" alt="">
</div>
<div class="col-lg-2">
<img class="img-responsive" width="100" height="100" src="img/dep/simulink.png" alt="">
</div>
</div>
<div class="col-lg-12 centered">
<h3>Overview</h3>
<hr>
<p>
The aim of this project was to develop a non-linear controller and decouple the robot dynamics model in the task space. This was my final project for <a href="https://www.engr.colostate.edu/me/dr-jianguo-zhao/">Dr. Jianguo Zhao</a>'s
class <a href="https://www.engr.colostate.edu/~dga/mech564/index.html"> MECH 564 - Fundamentals of Robot Mechanics and Control</a>. It involved modelling and simulating a task level controller for PUMA 560 6-axis robot in SIMULINK. The code was
developed in MATLAB based on the DH parameters as shown in Table 1. below. Few important details of the robot are:
<ul class="centered">
<li>6 Axis arm with 3 axis making up a spherical wrist</li>
<li>Maximum reach 878mm from center axis to center of wrist</li>
<li>Software selectable payloads from 4 kg to 2.5 kg</li>
<li>Arm wright: 83 kg (approximate)</li>
<li>Repeatability ±0.1mm</li>
<li>2.5 kg max velocity: 500mm/sec straight line moves</li>
<li>4.0 kg max velocity: 470mm/sec straight line moves</li>
</ul>
</p>
</div>
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<div class="col-lg-8 col-lg-offset-2">
<p><img class="img-responsive" src="img/portfolio/project01/proj1_fig1.jpg" alt=""></p>
<p>Figure 1. PUMA 560 Robot</p>
<p>The link parameters of the PUMA 560 robot are as follows:</p>
<p><img class="img-responsive" src="img/portfolio/project01/proj1_tab1.jpg" alt=""></p>
<p>Table 1. DH Parameters of PUMA 560 Robot</p>
</div>
</div>
<div class="col-lg-12 centered">
<h3>Dynamics Model of the Robot</h3>
</div>
<div class="row mt centered">
<div class="col-lg-8 col-lg-offset-2">
<p><img class="img-responsive" src="img/portfolio/project01/proj1_dat1.jpg" alt=""></p>
<p><img class="img-responsive" src="img/portfolio/project01/proj1_dat2.jpg" alt=""></p>
<p><img class="img-responsive" src="img/portfolio/project01/proj1_dat3.jpg" alt=""></p>
</div>
</div>
<div class="col-lg-12 centered">
<h3>The Task Level Control Method</h3>
</div>
<div class="row mt centered">
<div class="col-lg-8 col-lg-offset-2">
<p>
<img class="img-responsive" src="img/portfolio/project01/proj1_dat4.jpg" alt="">
</p>
</div>
</div>
<div class="col-lg-8 col-lg-offset-2 centered">
<h3>Required Tasks</h3>
<h4>Design of the Task level controller</h4>
<p>
<ol class="centered">
<li>Derive the nonlinear controller to linearize and decouple the robot dynamics model in the task space</li>
<li>Write the linearized robot dynamics model in the state space form</li>
<br>
</ol>
<h4>The Simulation</h4>
<br>
<ol class="centered">
<li>
Develop a software to simulate the robot dynamics model, i.e. numerically solve <br />
<img class="img-responsive" src="img/portfolio/project01/proj1_dat5.jpg" alt="">
</li>
<br>
<li>
Numerically implement the non-linear controller <br />
<img class="img-responsive" src="img/portfolio/project01/proj1_dat6.jpg" alt="">
</li>
<br>
<li>
Apply the linear controller in order to track a given desired trajectory as follows <br />
<img class="img-responsive" src="img/portfolio/project01/proj1_dat7.jpg" alt="">
</li>
<br>
<li>
The parameters in the robot dynamics model dkj ; cijk and gi vary 2%, 5%, 10% or 30% from their nominal values. Please repeat the simulation in 3.
</li>
</ol>
<em><b>Note : You should not change these parameters in the nonlinear controller.</b></em>
</p>
</div>
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<h3>Selected Resuts</h3>
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<p><img class="img-responsive" src="img/portfolio/project01/proj1_res1.jpg" alt=""></p>
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<p><img class="img-responsive" src="img/portfolio/project01/proj1_res4.jpg" alt=""></p>
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<h4>EXPLORE OTHER PROJECTS</h4>
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<a href="project04.html"><img class="img-responsive" src="img/portfolio/port04.gif" alt="" /></a>
<p>Revolutionizing Farming with Swarm Robotics</p>
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<p>Any Colony Optimization and Formation control of Swarm Robots</p>
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<p>Rapidly Exploring Random Tree Mapping with Multimap Merge</p>
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<h4>More About Me</h4>
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