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Fanuc LR Mate 200i Modeling and Simulation

ME 349 – Robotic Manipulators

Spring 2010

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Group Members:

Amit Raj Thatipalli

Raymond Manis

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Table of Contents

IntroductionProcedure

Denavit-Hartenberg Convention Thatipalli-Manis Method Robot Measurements Blender Program

ResultsConclusionFuture Work

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Introduction

Why model the robot?

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Introduction

Can model using toothpicks, but unrealistic Can’t watch toothpicks move through an angle

Easy to see what is going on with a CAD model Can input angles, rotation matrices, etc.

Can compare with real robot

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Introduction

So why Blender? Matlab is painful Easier to manipulate and control simulation Much easier code reading and debugging

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Procedure

What the hell did we do?

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Procedure

Created Denavit-Hartenberg Convention Diagram and Table Rotating frames Many rotating frames

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Procedure

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α a d θ0 0 14.321 θ1

-90° 5.711 0 θ20 10.388 0 θ3

90° 3.39 0 θ4 + 90°-90° 8.81 0 θ590° 1.374 0 θ6

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Procedure

DH Convention to complicated to do in Blender Used the Thatipalli-Manis Method to create frames for each link Each link has the same frame as the global frame

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Procedure

Created robot link models Used measurements from the robot to create models Special attention paid to rotation points Orientation of the frame with respect to the part at the point of

rotation ‘Parent-Child’ Relationship is vital

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Procedure

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Procedure

Created Blender Code for two simulations Low Resolution (Fast) Simulation High Resolution (Slow) Simulation

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Results

Well, did it work or what?

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Results

Of course it did.

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Results

Fast Robothttp://www.youtube.com/watch?v=qe0A2p9RvWY

Fast Simulationhttp://www.youtube.com/watch?v=b_nJ7FBHsAc

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Results

Slow Robothttp://www.youtube.com/watch?v=BeCCa06mOjM

Slow Simulationhttp://www.youtube.com/watch?v=qihFlz8_i-Q

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Conclusion

Simulation works well and appears to follow the same movements as the robot

Easier to do use global frame instead of DH Convention for Blender

Emphasis on rotation points and ‘parent-child’ relationship

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Future Work

Change code for Use rotation matrices Use DH Convention Singularities and collisions Jacobian matrices to create vectors for attraction-repulsion fields Jacobian matrices for speed/force Different tools for different types of operations (milling, deposition,

etc.)

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Questions?

As if we weren’t thorough enough….