2019 Spring UIUC ME446 Robot Dynamics and Control class project
CAD model of Catalyst-5 robot arm created for the project
In this project, we worked on a "Catalyst-5 robot arm" which is manufactured by Thermo Electron corporation. Originally, the robot arm comprised of 5 Degrees of Freedom, however, the last two motors at the wrist were deactivated to restrict the motion to 3-DOF.
This entire work is focused on testing and implementing different kinds of controllers to understand what are the pros/cons of each one when doing reference trajectory tracking.
The entire work is divided into 4 main lab sections where we study forward/inverse kinematic analysis of the robot arm, PD & PID joint control, inverse dynamics joint control and impedance control. The final project is a culmination of everything where one needs to make the end effector follow a desired reference trajectory and do a certain task in the shortest possible time .
Friction Compensation
Task-space Impedance Control
FINAL PROJECT TASK The final project task was to use position/impedance control to make the robot arm do a desired sequence of tasks. Task 1 was making the end effector move vertically down into the hole and then move it out. The second task was to move the robot arm around the obstacle without hitting it. The third task was to move the end effector along a zigzag path and finally, the last task, was to move the egg vertically down without breaking it. The task was marked as complete when the robot arm came back to it's home position.
SUCCESSFUL TRIAL - 2.80SEC Fastest run of the class! The video says it all. We use the force control for task 1, task 3 and task 4 since we need to make the end effector move along a particular trajectory without having too much force being exerted perpendicular to it. If the forces perpendicular to the trajectory are high, then either the end effector will twist or the entire setup clamped to the table will move considerably.
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