Analysis of Robotic System Motion in SimMechanics and MATLAB GUI Environment

Fedák, Viliam; Ďurovský, František; Uveges, Robert

doi:10.5772/58371

Cited by 19 publications

(13 citation statements)

References 5 publications

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“…The main aspects of a hexapod robot's displacement are ruled by physical limitations of their legs. It is of paramount importance to choose a leg whose design provides the maximum possible range of movements and that does not pose unnecessary constraints that can affect the movement of the robot [5,6].…”

Section: Hexapod Robotmentioning

confidence: 99%

“…Among the possible fields of application for hexapod robots, we have volcanic exploration, rescue procedures, detection of antipersonal landmines, undersea operations (marine floor), as well as sample collection, search for life, recognition missions in extraterrestrial exploration. The most of those tasks are hazardous and are usually accompanied by harsh environments, not compatible with human operation [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

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Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody

Urrea¹,

Valenzuela²,

Kern³

2016

Applications From Engineering With MATLAB Concepts

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In this chapter, we present the design, simulation, and control of a hexapod robot using tools available in MATLAB software. In addition, we design and implement a dynamic model (using the Simscape Multibody™ toolbox) as well as a three-dimensional model of the robot, using Virtual Reality Modeling Language (VRML), that help to visualize the robot's walking sequence. This three-dimensional model is interconnected with the Simscape Multibody™ blocks using MATLAB's virtual reality blocks. Apart from this, and following specific requirements, we design and implement a Proportional-Integral-Derivative controller in order to obtain a pre-established displacement for the robot that, thanks to the developed computer simulations, proved to be satisfactory. Special emphasis is put in obtaining a modular representation of the dynamic model of the studied robot because it will permit to design more sophisticated nonlinear controllers in future works, allowing a good dynamic behavior of the robot in front of environmental perturbations, an issue that will become evident through computer simulations of its displacement.

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Section: Hexapod Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody

Urrea¹,

Valenzuela²,

Kern³

2016

Applications From Engineering With MATLAB Concepts

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show abstract

“…Matlab ® , a través de su módulo Simscape Multibody TM , provee una serie de herramientas para este fin. A continuación se presenta un conjunto de referencias para ejemplificar la aplicación de esta plataforma; en (Jamali y Shirazi, 2012) se usó para modelar un manipulador tipo SCARA de 3 GDL (grados de libertad), en (Dung et al, 2010) y (de Gea y Kirchner, 2008) para modelar un brazo robótico tipo planar de 2 GDL, en (Dang et al, 2013) y (Gao et al, 2014) se modela el manipulador paralelo 3-RRR, en (Dalay Udai et al, 2011) un manipulador KUKA KR5, y en (Fedák et al, 2014) un manipulador serial de 6 GDL. Por otro lado, LabWIEW, a través de su plataforma Robot Simulation Model Builder incluye ciertos aspectos de control al modelado de manipuladores industriales.…”

Section: Introductionunclassified

Uso de Plataformas para el Desarrollo de Aplicaciones Virtuales en el Modelado de Robot Manipuladores

Sánchez-Alonso¹,

Ortega-Moody

González-Barbosa

et al. 2017

Revista Iberoamericana de Automática e Informática Industrial R

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ResumenEn este trabajo se propone el uso de plataformas para el desarrollo de aplicaciones virtuales como herramientas para el modelado de robots manipuladores. La propuesta se basa en aprovechar el gran potencial que actualmente tienen estas plataformas para solucionar la dinámica de cuerpos rígidos, lo que permite modelar de forma sencilla los aspectos mecánicos del manipulador. Por otro lado, la posibilidad ofrecida por estas plataformas de incorporar código de programación en lenguajes convencionales, permite modelar el comportamiento dinámico de sistemas físicos reales, tales como sensores y actuadores, lo que hace posible la implementación de una etapa virtual de instrumentación y control tal y como se realiza en un robot real. El uso de estas plataformas permite modelar desde cero cualquier robot manipulador. El modelado de un robot paralelo reconfigurable es presentado como caso de estudio.

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“…SimMechanics used in the realization of simulations of mechanical systems [45,46]. By transferring the 3D CAD model of the prosthetic hand developed in the SolidWorks program to the Matlab SimMechanics program, a chain structure containing each joint and link of the prosthetic hand was obtained as shown in Figure 7.…”

Section: Mechanical Design Of Prosthetic Hand Simulator Via Simmechanicsmentioning

confidence: 99%

EMG-Controlled Prosthetic Hand with Fuzzy Logic Classification Algorithm

Taşar¹,

Gülten²

2017

Modern Fuzzy Control Systems and Its Applications

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In recent years, researchers have conducted many studies on the design and control of prosthesis devices that take the place of a missing limb. Functional ability of prosthesis hands that mimic biological hand functions increases depending on the number of independent finger movements possible. From this perspective, in this study, six different finger movements were given to a prosthesis hand via bioelectrical signals, and the functionality of the prosthesis hand was increased. Bioelectrical signals were recorded by surface electromyography for four muscles with the help of surface electrodes. The recorded bioelectrical signals were subjected to a series of preprocessing and feature extraction processes. In order to create meaningful patterns of motion and an effective cognitive interaction network between the human and the prosthetic hand, fuzzy logic classification algorithms were developed. A five-fingered and 15-jointed prosthetic hand was designed via SolidWorks, and a prosthetic prototype was produced by a 3D printer. In addition, prosthetic hand simulator was designed in Matlab/SimMechanics. Pattern control of both the simulator and the prototype hand in real time was achieved. Position control of motors connected to each joint of the prosthetic hand was provided by a PID controller. Thus, an effective cognitive communication network established between the user, and the real-time pattern control of the prosthesis was provided by bioelectrical signals.

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Analysis of Robotic System Motion in SimMechanics and MATLAB GUI Environment

Cited by 19 publications

References 5 publications

Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody

Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody

Uso de Plataformas para el Desarrollo de Aplicaciones Virtuales en el Modelado de Robot Manipuladores

EMG-Controlled Prosthetic Hand with Fuzzy Logic Classification Algorithm

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