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Research Overview Coversheet

The document summarizes a research project on simulating the PUMA 560 robotic arm in MATLAB. The aim is to precisely analyze the arm's dynamics and control it using computed torque control. The justification is that robots are essential in industry and simulation tools help with research. The methodology will involve developing a user-friendly simulation interface, solving the arm's kinematics and dynamics, applying position control using computed torque control to minimize tracking error.

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Javaria Chiragh
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31 views1 page

Research Overview Coversheet

The document summarizes a research project on simulating the PUMA 560 robotic arm in MATLAB. The aim is to precisely analyze the arm's dynamics and control it using computed torque control. The justification is that robots are essential in industry and simulation tools help with research. The methodology will involve developing a user-friendly simulation interface, solving the arm's kinematics and dynamics, applying position control using computed torque control to minimize tracking error.

Uploaded by

Javaria Chiragh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Research overview coversheet

Name:
Javaria Chiragh
2015-MS-MC-03

Supervisor:
A.B.C.

Title:
PUMA 560 Robotic Arm dynamics, torque control and manipulator simulation
for educational use using MATLAB.

Aim:
Precise analysis of and dynamics of PUMA 560 robot and its simulation with
computed torque control in MATLAB.

Justification:
Now a days robots are essential parts of our industry. Assembly, spray
painting, pick and place, automation, polishing, drilling, welding almost every
king of industrial task can be done by Robotic manipulators. Originally
designed for assembly and manipulation tasks, the PUMA arm is now widely
adopted by academic institutions for research purposes. Computer modelling
and simulation tools have been very helpful in implementing robotics. I want
to make a flexible interface for dynamics and control of system which can be
used for both educational and research purposes. Using this simulation and
GUI will be helpful for advancement of research in Robotics field in Pakistan.

Methodology:
I will make user friendly software for simulation of PUMA 560 robotic arm
with real-time simulation and visualization of posture of robot in MATLAB. For
this purpose I will use pre designed robot model in MATLAB. I will solve
forward kinematics and inverse kinematics of robot and then dynamic
modelling to describe the relationship between joint motion velocity and
acceleration to torque and force. And for a specific trajectory I will calculate
these relationships and plot them to understand the dynamics of system.
And then I will apply position control methodology. I want to control the
system with minimum tracking error. I will use computed torque control for
the control purpose.

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