Assignment Task: 300056 Figure 1. shows a PUMA robot. This is a computer-controlled, six-joint robot driven by six DC servo motors. Numerical values for relevant parameters of the first three degree-of-freedom of the robot are given in table 1. The aim of this project is to design suitable controllers and trajectory planners, for the first three degree-of-freedom of this robot. 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 joint space. 2. Robot joint speed as a percentage of the nominal maximum speed. 3. Plots are required: i.e., actual and desired joint positions and velocities vs. time, and joint errors vs. time. The robot controller should be designed based on the nominal properties of the robot given in table1. Assume that the inertial properties provided for link 3 incorporate those for links 4-6. Controllers designed should provide satisfactory performance for the robot with up to 1.0kg of payloads. A SIMULINK model of the robot will be provided to test your controllers. The model accepts voltages to drive the power amplifiers for motors of joints 1-3. It also provides the positions and velocities of the motors and the joints. You are required to work in groups of two students each. Group members should be familiar with all aspects of the project. The assessment will be based on the following aspects: • Individual performance of each student towards the project during tutorial sessions. • Demonstration of the MATLAB/SIMULINK programs. • Written report (75%). Please note that all group members will also be asked to allocate their estimate of the percentage contribution of each member of the group towards the project. Groups will be assessed on their progress based on the following schedule. Group members present on the dates mentioned in the schedule will be given a mark according to their progresses related to the schedule. ZERO mark will be given to the student who is absent at the scheduled assessment time unles Assessment Schedule and Requirements: 3000561. Calculate the controller gains for the independent joint controllers for joints 1-3 (using the parameters given in Table 1). Using the calculated gains to design the feedback controllers for the PUMA and implement the controllers in SIMULINK. If necessary, fine-tuning of the controller gains may be required to achieve good control accuracy. Assessment time – tutorials in Week 9. 2. Develop and incorporate a joint space trajectory planner into the controller developed in Step 1. The planner should accept user specified initial and final joint positions, and joint speeds (as percentages of their nominal maximum values). Assessment time – tutorial in Week 10. The final demonstrations of the completed projects are to be held during tutorials in Week 10. A group 300056 report is to be submitted by each group by no later than 12 pm, 17th May 2019. The group report should contain at least the following aspects: • Aim of the project. • Methodologies, detailed equations and calculations used in designing the controllers and trajectory planners. • 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 15 A4 pages (inclusive of MATLAB codes, but excluding coversheet and table of contents). 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.
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