Kinematics Simulation
=============
RoboHAZMAT: Senior Design Project
Motion Control Team
Gerardo Bledt
October 21, 2014
#####Click here for video: [Prototype Demo!](https://www.youtube.com/watch?v=7mTqpFiKheA&feature=youtu.be)
#####Click here for video: [Final Project Demo!](https://www.youtube.com/watch?v=u9FL7Tifw28)
####Robot Simulation GUI
![SimGUI](https://cloud.githubusercontent.com/assets/7881351/5914828/70edfb04-a5ca-11e4-8a2c-6d426f36937a.png)
####Simulation 1: Inverse Kinematic Optimization for Trajectory Tracking
![TrajectoryTracking](https://cloud.githubusercontent.com/assets/7881351/5785804/5d4efbc6-9da9-11e4-8194-0d4c5896284d.png)
##**Project Goals:**
The RobotHAZMAT project is a design team made up of 10 Virginia Tech Senior Mechanical Engineers. The primary goal is to develop a method of intuitive gesture control for a robotic system for hazardous response situations. Current hazardous response robots require large amounts of training time and unintuitive button-joystick controls. We hope to increase the range of motion as well as reduces the training time required to operate these systems.
- This is a first year project serving as a proof of concept that two arm robots can be intuitively controlled through human movement.
- We hope to be able to develop the robot as well as the wearable user interface using readily available, inexpensive parts.
##**Basic Simulation Instructions:**
1. In the 'RoboHAZMAT' directory, run 'addpath_RoboHAZMAT.m' to get access to all the directories needed to run the simulation.
3. Run 'RobotSim.m' as 'RobotSim;' to see the defalut simulation of the RoboHAZMAT robot using predefined joint angles for the robot's DOF. Red markers are movable joints and grey markers are unmovable intersection points.
4. To run different interactive simulations, run 'RobotSim(#);' where '#' is a number {1,2,3,4,5,11,12,13,14,15}. However {4,5,13,14,15} require the use of the IMU sensor and / or the Arduino. {1-5} deal with the RoboHAZMAT robot and {11-15} deal with the Mechatronic Arm.
5. When prompted, enter 'y' to begin the simulation.
6. Follow the instructions on the MATLAB command window to interact with the simulation. Make sure to enter the commands when the Figure window is active (click on it to activate) and that no pan, zoom, or rotate options are currently selected. The only exception is simulation 2, where commands are entered in the command window.
7. To quit press space and then in the command window press 'y' to continue the simulation or 'n' to quit.
8. When you are done with the test simulation, try the other simulations by running 'RobotSim(#)' and check the 'InteractiveSim.m' script in the Simulations directory for a description of each simulation.
##**IMU Controlled Simulation Instructions:**
1. In the 'RoboHAZMAT' directory, run 'addpath_RoboHAZMAT.m' to get access to all the directories needed to run the simulation.
2. Upload the 'IMUQuat.ino' Arduino sketch through USB onto the Arduino that is attached to an MPU9150 IMU unit.
3. Check the COM port that corresponds to the Arduino by clicking on: Windows Start Menu -> Control Panel -> Device Manager -> Ports
4. Open the 'SetupCOM.m' script and change the IMUCOM array to match the COM ports found in step 3.
5. Run 'RobotSim(#);' where '#' is a number {1,2,3,4,5,11,12,13,14,15}. However {13,14,15} require the use of the Arduino. {1-5} deal with the RoboHAZMAT robot and {11-15} deal with the Mechatronic Arm.
6. The IMUs will be calibrated so make sure that they are in a position where they will not move until ready. When prompted, enter 'y' to begin the simulation.
6. Hold your arm straight out infront of you when beginning control.
7. Follow the instructions on the MATLAB command window to interact with the simulation. Make sure to enter the commands when the Figure window is active (click on it to activate) and that no pan, zoom, or rotate options are currently selected. The only exception is simulation 2, where commands are entered in the command window.
8. To quit press space and then in the command window press 'y' to continue the simulation or 'n' to quit.
9. When you are done with the test simulation, try the other simulations by running 'RobotSim(#)' and check the 'InteractiveSim.m' script in the Simulations directory for a description of each simulation.
Each of the '{Left|Right}ManipulatorKinematics.m' files use the DH parameters and the rotation and translation in the ground frame to give an accurate simulation of the manipulators given thetas for each DOF. Also has the lengths of each link and the physical constraints. All parameters are packaged in a struct and outputed for later use.
TO DO:
- Current version needs to be cleaned up, documented, and organized.
- Add more commands and interactive simulations for full usage of the system.
- Add pictures and videos of the full capabilities.
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RoboHAZMAT-KinematicsSimulation-archive-refs-heads-master.zip
共78个文件
m:72个
fig:2个
txt:1个
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RoboHAZMAT-KinematicsSimulation-archive-refs-heads-master.zip (78个子文件)
RoboHAZMAT-KinematicsSimulation-archive-refs-heads-master
新建文本文档.txt 0B
KinematicsSimulation-master
Utils
Plotting
CropWhitespace.m 259B
RobotPlot.m 2KB
FigureSetup.m 2KB
RoboHAZMAT_CAD.png 148KB
Rotation
RotateKinematicChain.m 709B
QuaternionRotate.m 879B
DHTransformsSym.m 1KB
QuaternionToYPR.m 1KB
DHTransforms.m 1KB
Misc
StopProgramDialog.fig 4KB
PrintStatusReport.m 1KB
ArmHomePosition.m 211B
NoiseCalc.m 690B
StopProgramDialog.m 5KB
InstructionText.m 824B
SetSimulationControlText.m 290B
Simulations
RoboHAZMAT
Simulation1.m 2KB
Simulation6.m 6KB
ControlRoboHAZMAT.m 12KB
Simulation5.m 7KB
Simulation4.m 2KB
Simulation3.m 1KB
Simulation2.m 2KB
MechatronicArm
SimulationM2.m 1017B
SimulationM3.m 2KB
SimulationM1.m 2KB
SimulationM4.m 1KB
SimulationM5.m 2KB
InteractiveSim.m 5KB
IntuitiveRobotControl
Control
DynamixelControl
DynamixelControl.m 1KB
DynamixelControlSetup.m 2KB
Dynamixel.m 8KB
ServoControl
MechatronicArmControl.m 971B
RobotHeadControl.m 800B
RobotGripperControl.m 704B
KeyboardControl
KeyboardControl.m 4KB
SetupKeyboardControl.m 3KB
StateEstimation
EstimateArmOrientation.m 1005B
ZeroYaw.m 858B
EstimateHeadOrientation.m 724B
ReconstructArm.m 966B
ReconstructHead.m 682B
SerialCommunication
GetAvailableCOM.m 1KB
SetupCOM.m 846B
MotorControl
arduino.m 97KB
SetupArbotixControlSerial.m 989B
SetupMAMotorControlSerial.m 1KB
SetupMotorControlSerial.m 1KB
IMU
CalibrateWirelessIMU.m 778B
ReadIMUQuaternion.m 2KB
CalibrateIMU.m 762B
SetupWirelessIMUSerial.m 2KB
SetupIMUSerial.m 2KB
ReadWirelessIMU.m 2KB
SetWirelessIMU.m 355B
addpath_RoboHAZMAT.m 1KB
RobotKinematics
EmptyKinematics.m 2KB
EquationsOfMotionSym.m 3KB
RoboHAZMAT
CreateRobotRoboHAZMAT.m 592B
LeftManipulatorKinematics.m 3KB
RightManipulatorKinematics.m 3KB
HeadKinematics.m 2KB
KinematicSystem.m 2KB
MechatronicArm
MechatronicArmKinematics.m 3KB
CreateRobotMechatronicArm.m 338B
Robot.m 613B
.gitignore 524B
RobotSimulation.fig 12KB
RobotSimulation.m 6KB
TrajectoryPlanningOptimization
TrajectoryLibrary
TrajectoriesMechatronicArm.m 3KB
TrajectoriesRoboHAZMAT.m 1KB
KCHessian.m 438KB
Optimization
KCGradient.m 83KB
EuclideanNorm.m 890B
InverseKinematicOptimization.m 1KB
README.md 5KB
RobotSim.m 3KB
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