Advanced Robotics- Project Report

ME5402/EE5106/EE5064 ADVANCED ROBOTICS
Part II: Dynamics and Control
Mini Project I
Student Name –
Student ID –
Mechanical Engg.
Robotics

Contents
Introduction:.............................................................................................................. 1
2-1: Modeling and Animation of the Robotic Arm...............................................................3
1. Literature review : Robot design and virtual robot simulation...........................................3
2. D-H model of the robotic arm in Figures 1 and 2, and derivation of the Lagrange-Euler
equations............................................................................................................... 3
3. Kinematic and dynamic equations............................................................................. 4
4. Control design..................................................................................................... 4
2-2: Robust Control of the Robotic Arm............................................................................5
1. Literature review : Robust control of the robotic arm......................................................5
2. D-H model of the robotic arm in Figures 1 and 2, and derivation of the Lagrange-Euler
equations............................................................................................................... 6
3. Design of Force Control and Position Control (Hybrid Force / Position Control) for the robotic
arm...................................................................................................................... 7
4. Design of Robust Control for the robotic arm and discussion on the robustness effect of different
selection of terms or functions or algorithms imposed on the controller designed......................7
5. Simulation : Robust Control performance of the robotic arm using MATLAB software...........7
References................................................................................................................ 9

Introduction:
The robots making use of artificial intelligence are becoming popular these days. They can be
used in a variety of applications like the automation of industrial processes. The UR
( Universal Robot ) is a robot having 6 degrees of freedom which is capable of working in 3
dimensional space. Hence, it holds a special significance. Its study can be done in 2 ways.
One is robot kinematics and the other is robot dynamics. The robot kinematics consists of the
forward kinematics and inverse kinematics ( which study the relationship between the joint
variable space and the end - effector position and orientation ). The robot dynamics consists
of robot controller design ( which study the relationship between the robot motion and the
forces/torques).
Here, the modelling and control of the Universal robot ( i.e., UR5 ) in Social Robotics Lab,
NUS, as shown in Figure 1 has been done. The structure and geometry of UR5 is shown in
Figure 2. The UR5 can be programmed to move a tool, and communicate with other
machines using electrical signals. It is an arm composed of extruded aluminium tubes and
joints.
Figure 1: Universal robot - Social Robotics Lab (SRL), NUS

Figure 2: UR5 - Structure and geometry
2-1: Modeling and Animation of the Robotic Arm
1. Literature review : Robot design and virtual robot simulation
A manipulator in real consists of several inputs and outputs. Hence, the use of multiple
variables is suggested for measuring the position of the arm or tool. The control system which
can be employed here consists of PID controller based on fuzzy logic. The sliding mode
variable structure control can be applied. It makes the system stable ( Majeed, 2016 ). A
significant requirement among the robots is the tracking of the trajectory in a fast and
accurate manner ( Mattingly, 2012 ). A simple PID controller is not robust enough and is not
able to deal with the non – linear control system ( Sira, 2012 ). The sliding mode control is a
non – linear control method ( Soltanpour, 2014 ).
2. D-H model of the robotic arm in Figures 1 and 2, and derivation of the Lagrange-
Euler equations.
D - H model of Robotic Arm
UR-5 Robot has all joints as revolute .So Θi is variable and all other parameters ( di ,ai , α i )are
constant.