MAE 593 Final Project Presentation
- 1. MAE 593 Project Presentation PRRR- SERIAL MANIPULATOR RRR-RPR-RRR -PARALELL MANIPULATOR By Nikhil Sapre Tejas Puntambekar
- 2. PRRR Serial Manipulator RRR Manipulator mounted on Sliding Base 2 d.o.f at EE (Redundant) Forward Kinematics Inverse Kinematics Workspace Plotting Trajectory Trace Ellipse Trace Circle Trace Curve P P R R R EE L1 d1 L3 L2 Theta1 Theta2 Theta3
- 3. Basic Features Base Position fixed to (0,0) Can Slide along X-Axis from -50 to 50 User defined Link Lengths (5-50) Task Space Configuration Join Space Configuration Plot WorkSpace Trace Ellipse/Circle Trace Curve Return to Home Position
- 4. GUI – Home Position
- 5. Forward Kinematics Xee=d1+L1*cos(theta1)+L2*cos(theta2)+L3*cos(theta3) Yee=L1*sin(theta1)+L2*sin(theta2)+L3*sin(theta3)
- 7. Inverse Kinematics Redundant System 4-Unknowns, 2 equations Newton-Raphson Numerical method Pseudo Inverse of Jacobian
- 9. Plot WorkSpace Divide the space into grid Check for each point whether inverse exists Mark green diamond if within workspace and red cross if out of reach No internal singularities
- 10. Manipulator – Work Space
- 11. Trace Ellipse/Circle User input co-ordinates of center and Major and Minor Axis dimensions Trace the ellipse/circle using inverse kinematics
- 14. Trace Curve Input 5 points using mouse Interpolation between points using interp1 function Trace the curve using inverse kinematics Curve in X and Y direction
- 15. Trajectory-Trace Curve Curve in X direction
- 16. Trajectory-Trace Curve Curve in Y direction
- 17. Trajectory-Trace Curve Random Curve
- 18. Trajectory-Trace Curve Error Messages
- 19. Demo
- 20. RRR-RPR-RRR Parallel Manipulator Chain1-RRR Chain2-RPR Chain3-RRR 3 d.o.f at EE Forward Kinematics Inverse Kinematics d1
- 22. Forward Kinematics First aim is to find unknown joint space variables Then we can find the Task Space Variables Forward Kinematics First aim is to find unknown joint space variables Then we can find the Task Space Variables