In this project, you will remotely access the manipulator in Figure 1 and program it in MATLAB to achieve a pick-and-place sequence of motions. The entire arm is driven by three motors (See Figure 3): • Motor A • Motor B • Motor C In addition to the three actuators, the system has five sensors: • Touch sensor #1 (See Figure 2) • Touch sensor #2 (See Figure 2) • Motor A encoder • Motor B encoder • Motor C encoder
The manipulator is made of four links (See Figure 3):
• Link-1 of
• Link-2 of
• Link-3 of
• Link-4 of
Among kinematic constraints include:
• Link-1 is rigidly connected to link-2
• Link-4 is always perpendicular to the ground plane
• Rotation of link-3 is bounded by link-2 on the lower side and touch sensor #2 on the upper side
• The base rotation is bounded by the touch sensor #1 on one side
Last but not least, all motors are coupled through gearboxes. Of interest are gearboxes for motor A and motor B. The gear details are presented in Figure 4.
Figure
The robot workplace is made of thee stations (See Figure 5):
• Station A (elevated 70mm as indicated in Figure 6)
• Station B
• Station C
You will accomplish the following tasks:
- Develop the inverse kinematic model (equations) for this manipulator robot
- Develop behaviours for picking, placing and homing
- Use the behaviours in (2) to command the manipulator to pick the ball from station C and place it at station A
- Use the behaviours in (2) to command the manipulator to pick the ball from station A and place it at station B
- Use the behaviours in (2) to command the manipulator to pick the ball from station B and place it at station C
