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I worked on this project in my second year of my bachelor's studies. The aim was to create a Graphical User Interface in MATLAB and integrate the Virtual Reality simulation of a 2DOF mechanism. It was my first time using MATLAB for this purpose, and I faced several problems: how to import a SolidWorks model of the mechanism, how to exchange data between the GUI and Simulink model, and how to visualize the VR in the GUI.
The implementation went faster than planned, so I decided to build the real system too. I used stepper motors as actuators with a 0.39° angular step by using gear reduction and half-step control. The motors were not so powerful, so the links were made of aluminium. I commanded the motors through the parallel port of the PC, sending 8 bits. I built a driver circuit to safely control the motors by separating the control signal from the power supply with photocouplers.
Publication: Előd Páll, Design and real-time control of 2DOF mechanism in Virtual Reality with Matlab Graphical User Interface, ACTA TECHNICA NAPOCENSIS, Cluj-Napoca, May 2011
Abstract: Designing a control system is easier for a simulated model than for the real system. The simulation can be implemented and visualized in the control software of an automated system. Hence, it makes it easier to test and observe the behavior of the system. The simulation can be realistic if all the physical aspects are set. This is the reason to create a User Interface that controls a five-bar mechanism and to simulate in real time the behavior of the mechanism. The chosen program is Matlab, which has the features for this task.
Keywords: graphical interface, Matlab GUIDE, five-bar, virtual reality, simulation, real-time control.
The circuit for parallel connection:
parallel port
resistances
photo couplers
transistors
LEDs
The five-bar mechanism:
aluminium bars
two stepper motors
angular displacement 3,91º gear reduction 12/60
half step & reduction 0.391º
Graphical User Interface:
Matlab GUI communicates on parallel port with the mechanism.
Direct & Inverse control
Simulation
Virtual Reality
Check the other projects:
Check the other projects:
Use-case application of Environmental Constraint Exploitation for robotic surface treatment
Motion Generation With Contact-Based Environmental Constraints (Thesis link)
Human-like grasping from piles leveraging granular Environmental Constraints
Reactive motion planning with contact events
Assistive robotics with POMDP online solver
Inverted rotary pendulum controlled with an optimistic planning algorithm
Vision-based autonomous navigation for railway inspection with a UAV
UAV sensor noises and system identification
Pick and place Matlab application with a Melfa RV-2AJ arm
A Five-bar mechanism with Matlab UI and control for drawing
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