Serial Arm Control in Real Time Presentation

Serial Arm Control in Real Time
FURKAN GÜMÜŞ
İREM UZUN
YAĞIZ ERKAN
TOLGAHAN GERGİN
TÜLBİYA KARAHAN
ADEM BAYRAM
29.05.2024
MEE428 Real-Time Control Term Project
1

CONTROL MODEL
CONCEPT
CONCLUSIONS
ELECTRICAL
CONNECTION
2
4
1 3
5
USER INTERFACE
2

CONCEPT
1
• Develop a motion control system for a two degrees of
freedom serial arm
• Enable real-time adjustment of PID control parameters via
a specialized MATLAB GUI
• Visualize and verify the arm's motion using encoder
feedback
3

• Data from the Arduino is unpacked and processed to calculate the position error. The PID controller
adjusts the motor's position based on this error, sending PWM signals to the motor. Encoder data is read
via interrupts and visualized in real-time, ensuring accurate position control.
CONTROL MODEL
3
5

Encoder Pulses to
Position Values
• This conversion represent the pulses to angles in degrees
360
131×16
16 pulse encoder x motor speed reduction with gearbox 131= 1 rotation
7

• Receiving Data: Arduino sends raw data to the
Simulink model
• Unpacking: The "Byte Unpack" block takes this
raw data and splits it into meaningful
components, such as position and sensor
readings. In this application creates data type
uint8 array.
• Processing: These components used for control
logic.
Byte Unpack
9

• Preparing Data:After processing and generating control signals (like PWM values), these signals
need to be sent back to the Arduino.
• Packing: The "Byte Pack" block takes the control signals and combines them into a single data
stream.
• Transmitting: This packed data is then transmitted to the Arduino, which uses it to adjust the
motor's position.
Byte Pack
10

Treshold logic for reducing error
• This treshold ensure that
controller does not start the
second motor if the first motor
motion occurs with an error
higher than 3 angle.
• This ensures energy efficiency
and reduce error.
11

PID Controller
• This block diagram represents a PID
controller. It processes the error signal
(difference between reference and actual
values) into three components:
proportional, integral, and derivative.
• To ensure the robot working stabilization
PWM values limited as 50/-50 instead of
255/-255
12
50
-50

Bidirectional Movement
13
• It provides bidirectional movement with a
DC motor with two encoders. This
movement means that the engines can
operate in both forward and reverse
directions. The block I use in Simulink
allows me to precisely control the direction
and speed of the motors. Thanks to the
feedback signals coming from the encoders,
it ensures that the motors work correctly
and reach the targeted positions.

14
USER INTERFACE
4
Visual Hierarchy
Simplicity
• Clear and uncluttered layout.
• Quick access to essential information.
Feedback
User-Centered Design
Easy input for joint angles and PID
parameters.

function UIAxes2ButtonDown(app, event)
coordinates = app.UIAxes2.CurrentPoint;
x = coordinates(1,1);
y = coordinates(1,2);
% Inverse Kinematics calculations
L1 = app.L1;
L2 = app.L2;
% Compute the inverse kinematics
cos_theta2 = (x^2 + y^2 - L1^2 - L2^2) / (2 * L1 * L2);
sin_theta2 = sqrt(1 - cos_theta2^2); % Taking the positive root
theta2 = atan2(sin_theta2, cos_theta2);
k1 = L1 + L2 * cos(theta2);
k2 = L2 * sin(theta2);
theta1 = atan2(y, x) - atan2(k2, k1);
% Convert to degrees for display
theta1_deg = rad2deg(theta1);
theta2_deg = rad2deg(theta2);
% Update the numeric edit fields
app.Ref1EditField.Value = num2str(theta1_deg);
app.Ref2EditField.Value =num2str(theta2_deg);
% Plot the arm on the UIAxes
cla(app.UIAxes2);
xLimit = L1 * 2; % Adjust as needed for scale
xlim(app.UIAxes2, [-xLimit xLimit]);
% Fixed y-axis limits
yLimit = L1 ; % Adjust as needed for scale
ylim(app.UIAxes2, [-yLimit yLimit]);
hold(app.UIAxes2, 'on');
grid(app.UIAxes2, 'on');
axis(app.UIAxes2, 'equal');
plot(app.UIAxes2, [0, L1*cos(theta1)], [0, L1*sin(theta1)], 'b', 'LineWidth', 2);
plot(app.UIAxes2, [L1*cos(theta1), x], [L1*sin(theta1), y], 'r', 'LineWidth', 2);
plot(app.UIAxes2, x, y, 'ko', 'MarkerFaceColor', 'k');
hold(app.UIAxes2, 'off');
Inverse Kinematic
• This function executes when the user
clicks on UIAxes2. It captures the click
coordinates, calculates the inverse
kinematics
15

% Button pushed function: startserialButton
function startserialButtonPushed(app, event)
% Configure the callback function to be called after reading 8 bytes
configureCallback(app.serialObj, "byte", 8, @(src, event)readSerialData(app, src, event));
app.logEditField.Value = "serial communication started";
setupTimer(app);
Serial Connection
• This function executes when the start serial button is pressed.
• It configures a callback function to be triggered after reading 8 bytes from the
serial port.
• It updates the log to display "serial communication started" and sets up a timer
to update the plot periodically.
16

OptiTrack Cameras
13
We utilized OptiTrack cameras to monitor the
end effector's real-time movements. These
cameras provided precise tracking of the end
effector's position, which was then visualized
in MATLAB. This allowed us to verify and
adjust the motion control system accurately,
ensuring the end effector followed the
desired path with high precision.

Serial Arm Control in Real Time Presentation

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