Question

Apply Robotics concepts to a simulated or real-world system. The project should contain at least two of the following basic topics:

• Kinematics (forward/inverse)
• Control
• Dynamics
• Trajectory planning
• Manipulator Design
• ROS/Gazebo

Examples of appropriate projects include analysis of the kinematics and dynamics of an existing robot, design (on paper) of a new manipulator with an analysis of its kinematics or dynamics, design of general dynamic simulation and control software, or application of two or more course concepts to solve an existing research problem.

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Objective

A SCARA manipulator (Selective Compliance Articulated Robot Arm) is a common robot used in light-duty assembly lines such as in electronic industry. This is a 4DOF manipulator which has parallel shoulder, elbow, wrist rotary joints, and a linear vertical axis through the center of rotation of the wrist. The project aims at simulating kinematics and trajectory planning for a SCARA manipulator whose objective is to tighten a set of bolts/screws kept at user defined positions.

1. Kinematics: At first, DH table for pick and place SCARA robot is populated. From DH table, forward kinematics of SCARA is found out. Motion of SCARA is simulated in MATLAB, using predefined inputs to check for correctness of forward kinematics. Inverse kinematics is calculated. Then a required endpoint trajectory is specified (from user). A MATLAB code simulates SCARA motion such that the tip traces specified endpoint trajectory.

2. Trajectory planning: User specifies points on a 2D surface where the screws are positioned. A MATLAB code simulates the motion of SCARA manipulator with the tool end. The tool tip motion consists of following actions: (a) Tool is raised from an initial lowered position (b) Tool is moved to the next designated position (c) Tool is lowered till the tip of screw head (d) Tightening motion of tool and repeat...

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