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Simulation
and Control of a 2 DOF Planar Robot
 This
is an exercise in robot dynamics that will focus on simulation and control
of a basic 2DOF robot. The instructions, parameters, and equations
needed for this exercise are in a downloadable file below. A
RoboWorks model of the robot has already been created. Example data
files from each section of the project are also available. Follow
the instructions below to animate the data files.
If you are an instructor and would like to obtain the Matlab code used to create the Data Files please contact Dr. Chetan Kapoor
at Chetan@mail.utexas.edu.
Instructions:
- RoboWorks must be installed on your computer if not
go to Software
for instructions.
- Click on 2
DOF
Planar Robot and download the RoboWorks file to your computer.
Please do not open the file from the web, but rather save it on your
computer and then open it in RoboWorks.
- Similarly, download the Data Files associated with
this model. Again, do not open the file from the web, but rather
save it on your computer.
- Start RoboWorks. Click on File in the top left
of the window. Then click on Open and select the data file you downloaded to your computer.
- Click on Animate, then From File. Select the
data file you just downloaded. A control panel will pop
up. Click on play.
- To rotate, pan or zoom the view of the 3D model hold
down the right mouse button on the RoboWorks window and select
'Interactive Mode->Rotation, Translation, or Zooming' and then move
the cursor.
- Open the Assignment
to get instructions and dimensions for the problem.
- It is suggested that you use Matlab to run the
control schemes but any application can be used to create the data file to
run the simulation.
- Important: New data files must contain the joint
values in columns with the tag names 'J1' and 'J2' at the top of the
columns. Look at the provided data files for the correct format.
- Once this data file has been created click on
Animate, then From File. Select the new data file you wish to
run the simulation with.
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