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Engineering Assessment Task

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 table

1. Assume that the inertial properties provided for link 3 incorporates 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.

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  • Uploaded By : Keith
  • Posted on : December 18th, 2018

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