# [Authentic] Assignment – Control and Trajectory Planning

Project I
Control and Trajectory Planning for a Motoman MH3F robot
Submit the softcopy of your project report (in PDF or MS Word format) and software codes
Figure 1 shows a Motoman MH3F robot. This is a computer controlled six-joint robot, driven by six servomotors. The geometrical parameters of the MH3F are given in Figure 1(b).
Figure 1. An MH3F robot. (a) A photo of the MH3F robot1. (b) a sketch of the MH3F robot with geometrical parameters2
In this project students are required to work in groups (no more than 3 students) to
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
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:
Desired initial and final locations of the end-effector in Cartesian space (either in metres or in millimetres).
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).
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.
The robot simulator should be designed based on the assumed parameters of the robot given in Table 1. Assume that the inertial properties provided for link 3 incorporates those for links 4-6.
You are required to work in groups of two to three students each. Group members should be familiar with all aspects of the project. The assessment will be based on the following aspects (detailed marking criteria are given at the Learning Guide of the unit):
Assessment Schedule and Requirements:
Learning on using MATLAB Simscape in building the Simulink model of a non-planar robot (10%).
Assessment time – Lecture and tutorial in Week 8 – 26/4/2019.
The final demonstrations of the completed projects are to be held during tutorials in Week 12 in your tutorial room. You are required to demonstrate:
A dynamic model of the first 3DOF of the robot in Simulink using Simscape with PID joint controllers to control the robot to follow desired trajectories. (5%)
Cartesian space trajectory planner for the first 3DOF of the MH3F robot. The planner needs to accept user specified initial and final cartesian positions. (5%)
Test the generated trajectory on the Simulink model to compare the desired and actual trajectory of the wrist centre of the robot. (10%)
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The group report should contain at least the following aspects:
Aim of the project.
Methodologies, detailed equations and calculations used in designing the dynamic model and trajectory planner.
MATLAB/SIMULINK programs used in the project.
Plots/outputs that demonstrate the effectiveness of the controller/planner.
Conclusions
The final written report should be no more than 20 A4 pages (pages exceeding the page limit will be penalised by 10% of full mark per page). The fonts used should not be smaller than 12 pts Times New Roman with margin of no less than 2cm on all sides. Marking criteria of the report can be found in the unit Learning Guide.
Table 1. AssumedDynamic Parameters of the MH3F robot
Parameters
Values
Mass of the first link M1 (kg) Mass of the second link M2 (kg) Mass of the third link (including the 4th and 5th link) M3(kg) Centre of mass for the 1st link along x (x1m)
6 5 7 0.0
Centre of mass for the 1st link along y (y1m)
0.0
Centre of mass for the 1st link along z (z1m)
-0.1
Centre of mass for the 2nd link along x (x2m)
-0.13
Centre of mass for the 2nd link along y (y2m)
0.0
Centre of mass for the 2nd link along z (z2m)
0.0
Centre of mass for the 3rd link along x (x3m)
0.0
Centre of mass for the 3rd link along y (y3m)
0.0
Centre of mass for the 3rd link along z (z3 m)
0.17
Moment of inertia for the 1st link along x (I1xxkg m2)
0. 25
Moment of inertia for the 1st link along y (I1yykg m2)
0.25
Moment of inertia for the 1st link along z (I1zzkg m2)
0.1
Moment of inertia for the 2nd link along x (I2xxkg m2)
0.04
Moment of inertia for the 2nd link along y (I2yykg m2)
0.28
Moment of inertia for the 2nd link along z (I2zzkg m2)
0.28
Moment of inertia for the 3rd link along x (I3xxkg m2) Moment of inertia for the 3rd link along y (I3yykg m2) Moment of inertia for the 3rd link along z (I3zzkg…

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