My Final Graduation Bachelor Thesis
- [2020/10] Simulation result!!
- [2018/9] Thesis Report!! (only in Vietnamese) and Presentation!! (English)
- Addpath
- Add Error Tolerance for End-Effector Position and Angle
- Add desired trajectory position
- Import robot .urdf
- Settings for desired grabbing pose.
- Initlize the Contact_Forces library
Robot parts are designed and assembled with SOLIDWORKS
Simple ED7220C robot arm
Then, moving to more complex robot arms to have more flexibility, so that the robot arms can actually able to cooperate with each others. The NTU iCeiRA robot models are mirrored. The single arm is for simulation of tracking trajectory, then the duo-arms model is for control design and simulation of cooperation.
The final model is then imported into Simscape, MATLAB, and could be visualize with Mechanic Explorers.
The Control Structure with 3 level:
Based on Discrete Event System, the state flow is designed for each stage of grabbing and moving
- The simulation was insanely slow due to the complexity of the contact force interaction, unlike the trajectory tracking simulation.
- At the time of research, I was unfamiliar enough with Multibody Dynamics in general, and specific for the Dynamics Formulation for robotic systems this complicate. Thus, I was solely focusing on using inverse kinematics.
- In addition, I did not have the oppotunity to work with real models, parameters were estimated, not accurately measured.
See the LICENSE file for license rights and limitations (MIT).