How the MATLAB work can be plugged into ROS

Assignment Help Simulation in MATLAB

Reference no: EM132242100

Assignment Requirements -

The simulations will be accompanied by a document which contains all of the following information, along with other information which is important for the construction of the MATLAB work.

Design -

This section will include details of all designs for the robotic arm and robotic hand which will be used for the simulation. It will also include mathematical models for the inverse and forward kinematics.

Robotic Arm Model:

6 axis articulated robotic arm model
3D CAD model required for the MATLAB simulations - basic arm, not much detail required
Detailed explanation into the different axis and joints of the arm and how they connect
Include images of the arm and annotations to the joints as well as explanations of the images

Robotic Hand Model:

5 fingered anthropomorphic robotic hand design
Follow DEXMART robotic hand design - 4.2 link 6
Detailed explanation of the joints and axis within the hand, as well as how they work together
Detailed explanation into how the hand and arm connect together, using the wrist of the robotic hand with the robotic arm wrist joint
Include images of the hand and annotations to the joints as well as explanations of the images

Robotic Hand Grasping:

Detailed explanation into how the hand will grasp onto objects and ensure a solid grip is constant throughout the motion

Detailed explanation into the specifics regarding

Grasp analysis
Grasp planning
Grasp control

Explain how constraints are avoided

Such as collision and ensuring hand grasps object in correct place
How to ensure the object doesn't go through the object

Refer to section 3 link 6.

Inverse/Forward Kinematic Modelling:

Explanation into kinematic modelling including what it is and why it is used
Explain the problem that needs to be solved with kinematic modelling
Use Denavit Hartenberg convention
Create the transformation matrices for the robotic arm using DH can use 4.2 of link 6 for help on how to specify to DEXMART hand but for the robotic arm it needs to be made manually.
Refer to link 5 section 2.2
Forward kinematics - include homogenous matrix to transform coordinates of a point from frame to frame (section 3.2 of link 5) Include DH parameters with arm joints for the robotic arm
Inverse kinematics - Explain which approach is taken to solve inverse kinematics. Algebra or geometric approach (choice is open).

Path/Trajectory Planning:

Compare the different mathematical methods that can be used to create path planning for the robotic arm
Explain the velocity of the movements and how this was calculated
Use Jacobian matrix (section 4.1 of link 5)
Explain Jacobian and why it is useful for trajectory planning
Detail into kinematic singularities using Jacobian on the robotic arm (section 4.2 link 5). Make sure it is catered to the robotic arm we are using and not the one in the example
Detail into inverse velocity/acceleration with Jacobian (4.3 in link 5)
Explain force/toque relationship (4.4 in link 5)
Note - make sure this is customised to the robotic arm and hand
Detailed explanation into trajectory planning and how it will be used for the robotic arm (section 5 link 5)

Implementation:

This section will focus on MATLAB and Simulink, discussing the methodologies implemented and the simulations created.

Software:

Information regarding MATLAB, Robotics System Toolbox and Simulink, and how these were used to create the program.

Forward/Inverse Kinematic Models:

Detailed explanation into how the mathematical equations and formulae within the design stage were implemented in MATLAB
How the robotic arm and hand uses the joints to perform movement of the axes
Include screenshots and annotations
Include explanation of the code written
Explanation of the work envelope of the robot arm and hand, as well as how this was calculated.
Explain how the joint positions are calculated for the arm and hand

GUI:

Screenshots and annotations of the GUI
Explain how the GUI was implemented, including code and explanation of the code
Explain the benefits of the way the GUI was created E.g. having each joints positions visible during the simulation

System Architecture:

System architecture that shows important info such as waypoint tracking details of objects and robotic arm

Controller: Supervisory logic, determining joint positions (inverse kinematics), determining end-effector position (forward kinematics)
Robot: Simulation

State flow charts of the simulations running with explanations.

Robot Arm Movements:

Detailed explanation into the waypoint tracking algorithm used for the movements of the arm. Use the waypoint tracking algorithms within the robotic system toolbox
Detailed explanation of how the robotic arm creates a path plan to point the end effector at the required object
Include details such as initial position, end position and the way points within the path, as well as how these are all calculated
Explain how the mathematical equations used in the design stage were implemented within MATLAB with explanations of all code used

Robot Hand Grasping:

Detailed explanation of how the hand grasping mechanism was implemented and how it works within MATLAB
How the constraints and all other factors were implemented
Include explanation of all code used
Include screenshots from MATLAB explaining the grasping mechanism with detail

Simulations:

Detailed explanation of how Command 1 was created

Include explanation of all code
How the path plan is created for the cutting simulation
How the object was detected (link 4, 21:00 onwards)

Detailed explanation of how Command 2 was created

Include explanation of all code
How the path plan is created for the stirring, it should be a circular motion
How the object was detected (link 4, 21:00 onwards)

Optimisation

Optimisation algorithm which allows the robot to perform the simulation multiple times and uses this to reduce the cost function for torque overall (link 4, 16:00 onwards)

Outcomes

Graphs showing the trajectories of the robotic arm during the simulations - with detailed explanations of what is happening

Transformation matrices with explanation and calculation

Results of the optimisation algorithm - with graphs and explanations.

Test cases for the simulation buttons, cover Normal values, Boundary values, Erroneous values. Include outcomes of the test cases with the simulations showing.

Explanation into the accuracy and repeatability of the simulations. Include mathematical equations used to calculate this.

Detailed information regarding the velocity and other measures which are used for the robotic arm.

C++ generated code of the models and explanations of how this works and why it is useful (link 4, 37:10 onwards).

Evaluation:

Evaluate the methods used for robotic arm movements and grasping of robotic hand.
Evaluate the method for the two simulations can be extended to perform more actions.
Explanation of how the MATLAB work can be plugged into ROS.
Explanation on how these simulations could be used within physical robots; steps required.

Deliverables - The MATLAB files along with a document with the required diagrams, designs and explanations as requested. I expect a write up of the simulations, including explanation on any difficult parts that will help me expand. I would like to screenshare and voice call for a walkthrough of everything.

Description -

1. MATLAB Simulink Environment containing a 3d CAD model of robotic arm with a GUI that allows the user to click on relevant buttons and make the robotic arm perform basic simulations.

2. Inverse and Forward Kinematic models showing rigid body trees with waypoints and trajectories of the joints + explanation of all methods and algorithms used. Along with path planning.

All mathematical calculations and models used must be explained with detail.

3. Complete code of the environment with comments - explanation of all code will also need to be provided. C++ generated code with explanations.

4. Walkthrough of the environment - showing how to use different features and how to edit the robot or any functions if required.

5. Word document with all explanations as requested.

6. Full list of references.

Attachment:- Assignment File.rar

Reference no: EM132242100

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