Professional Documents
Culture Documents
Obot Control Using Atlab Imulink: Leon Žlajpah
Obot Control Using Atlab Imulink: Leon Žlajpah
5.6.2014
ICRA 2014
Outline
5.6.2014
3 ICRA 2014
3
The role of simulation
Augmenting the simulation with visualization tools and interfaces, one can
simulate the operation of the robotic systems in a very realistic way.
4 5.6.2014
4 ICRA 2014
Requirements for the simulation environment
Simulation tools for robotic systems differ depending on which aspect of the
robot research they support. In most simulation tools the focus is on the
motion of the robot manipulator in different environments.
5.6.2014
6 ICRA 2014
6
Planar Manipulators Toolbox – MATLAB functions
Calculation of the direct kinematics the Trajectory generation (minimizing the condition number)
function
> nj=4;L=[1 1 1 1];
> q=[0.5;1;-1;-1]*pi/2; x0=kinmodel(q,L);
> nj=4; > amp=[-2;2.5];t0=5;tmax=5;tsamp=0.001;
> L=[1 1 1 1]; > [xp,xv,xa,t]=refcirc(x0,amp,t0,tmax,tsamp);
> q=[0.5;1;-1;-1]*pi/2; > n=length(xp); qp=zeros(n,nj); qv=zeros(n,nj);
> qd=[1;1;1;1]; > for i=1:n
> qdd=[1;0;-1;2]; > [x,J]=kinmodel(q,L);
> [x,J,Jd]=kinmodel(q,qd,L); > J1=J'/(J*J'); NS=(eye(nj)-J1*J);
> xd=J*qd; > [CN,Grad]=idxcn(q,L);
> xdd=J*qdd+Jd*qd; > e=xp(i,:)'-x; qd=J1*100*e-5*NS*Grad;
> disp([x xd xdd]) > q=q+qd*tsamp; qp(i,:)=q'; qv(i,:)=qd';
> end
1.4142 -1.4142 -15.5563 plotrobot(qp(1:(n-1)/10:n,:),L)
1.4142 4.2426 2.8284
Different
[Man,Grad]=idxman(q,L);
[Grav,Grad]=idxgrav(q,L,Lc,m,ml,W);
7
5.6.2014
7 ICRA 2014
Planar Manupulators Toolbox - Simulink
8 5.6.2014
ICRA 2014
PMT – Obstacle avoidance
5.6.2014
ICRA 2014
“RobotBlockset” Simulink library
A crucial feature for development of robot control systems is that the user can
easy switch between using model or a real system in the simulation loop.
5.6.2014
ICRA 2014
The concept
to simulate the kinematics and dynamics of arbitrary chosen kinematic chain describing
different manipulators,
to enable integration of different sensor systems like vision and force sensors,
to enable simulation of scenarios for complex robot tasks,
to include the model the robots' environments,
to visualize the robots and their environment,
to enable integration of real robots in the simulation loop and
to allow distributed computation over more computers.
5.6.2014
11ICRA 2014
“RobotBlockset” Simulink library
Robot models
5.6.2014
12 ICRA 2014
Robot model
5.6.2014
13 ICRA 2014
13
Robot model
5.6.2014
14 ICRA 2014
14
Robot model
5.6.2014
15 ICRA 2014
15
Robot playing Yo-yo: Control strategy
18 5.6.2014
18 ICRA 2014
Robot playing Yo-yo: Simulation
19 5.6.2014
19 ICRA 2014
Robot playing Yo-yo: Experiment on a real robot
20 5.6.2014
20 ICRA 2014
Playing PowerBall
The robot should perform the spinning of a hand held gyroscopic exerciser
5.6.2014
21 ICRA 2014
21
Joining robot arms
There are many tasks that can be performed in cooperation, i.e. using multi-arm robots.
We provide blocks for joining robot arms, i.e. a model of a complete robot system consists of a
models of particular robot arm models which are connected using special Simulink blocks.
5.6.2014
22 ICRA 2014
Joining robot arms
There are many tasks that can be performed in cooperation, i.e. using multi-arm robots.
We provide blocks for joining robot arms, i.e. a model of a complete robot system consists of a
models of particular robot arm models which are connected using special Simulink blocks.
5.6.2014
23 ICRA 2014
Kuka LWR interface
The KUKA lightweight robot (LWR) is the We have developed a server which
very versatile robot produced by KUKA with operates in real-time and has basically
collaboration of the Institute of Robotics the following tasks:
andMechatronics at DLR. The Fast Research
Interface (FRI) enables to interact with the communication with the FRI fulfilling
robot controller. It is also possible to use all the requirements of the FRI UDP
own control strategies, methods and socket communication,
sensory systems. communication with the client
For many robotics research topics, like computer via UDP socket
motion planning or task generation at higher communication at approximately
levels the update rates are usually relatively constant rate, which can be lower
low and they are not always in „real-time“. than the rate for FRI,
interpolation of input signals send
from the client computer, and
assures proper change of robot
control modes via FRI.
25 5.6.2014
ICRA 2014
FRI-xPC client for Kuka FRI controller
26 5.6.2014
ICRA 2014
Simulation of multiple robots in unstructured environment
There are different multi-body dynamics simulation engines, which include also
contacts.
Out latest activities in the simulation in the direction of using these existing
physics engines together within our MATLAB/Simulink environment using our
already developed simulation blocks and interfaces.
5.6.2014
ICRA 2014
Connecting to MuJoCo engine
MuJoCo is a physics engine, which offers for a user easy modeling of complex
multi-body systems, acurate simulation including dynamic contacts.
For us it was also important that it is also availabe as a MATLAB toolbox.
28 5.6.2014
28 ICRA 2014
Conclusions
The presented control design environment is a very useful and effective tool for
fast and safe development and testing of advanced control schemes and task
planning algorithms, including force control and visual feedback in research and
education.
5.6.2014
29 ICRA 2014
29
Thank you!
5.6.2014
30 ICRA 2014
30