Matlab Design Environment for Robotic Manipulators
| Authors: | Babuska Robert, Delft University of Technology, Netherlands
Breijs Alexander, Delft University of Technology, Netherlands
Klaassens Ben, Delft University of Technology, Netherlands |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control I |
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| Keywords: | Rapid prototyping, Serial manipulator, Graphical user interface, Virtual reality, Matlab, Simulink, Robot |
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Abstract
An automated modelling and control design environment for serial manipulators has been implemented in Matlab/Simulink. This development was motivated by the need for a fast and insightful modelling tool, given that currently available modelling environments are not well suited for control design. The manipulator configuration is defined within a graphical user interface and the corresponding mathematical model is automatically generated. The model is exported to Matlab for analysis and control design, as well as to Simulink for simulation and verification purposes. Friction and stiction phenomena are included in the model. The simulation results can be visualized by standard Matlab means as well as through virtual reality animations. The modelling environment has been used in the design of a control system for a seven-degree-of-freedom manipulator in a tunnel-boring machine.
