Mechatronics & Control Engineering Dept.

, UET, Lahore Fall 2019

MCT-451: Robotics
SEMSETER PROJECT (Section A & B)

Instructor: Dr. Ali Raza (GA: Misbah Iqbal)

Submission 30th December 2019

Deadline:

Place: AI & Robotics Lab

OBJECTIVES:
This semester project is aimed to introduce our students to use physics-based simulation platforms (such as
V-Rep) in designing robotic manipulators. The students will learn to configure different robots, incorporate
kinematics as well as dynamics, perform simulations under different conditions, and analyze the results to
re-configure the robots.

PROBLEM STATEMENT:

1. Design the assigned manipulator (according to your FYP groups) of given configuration in V-Rep
with suitable link lengths and motor specifications.
2. Add a suitable end-effector at the end of the manipulator (preferably Baxter Gripper already
available in V-Rep) for performing the tasks.
3. Implement inverse kinematics on that manipulator while end-effector is trying to follow any
trajectory (other than circular e.g. square, trapezoidal shapes etc.) and calculate joint angles. Save
these angles in .csv file. (Hint: save angles for one cycle)
4. Then, perform forward dynamics such that manipulator will try to follow that desire trajectory. You
have to use built in PID controller available in V-Rep. Plot the motion and joint-torques waveform.
5. Similarly, save the actual angles obtained from forward dynamics in .csv file (for one cycle).
6. Is there any difference between joint angles acquired in inverse kinematic mode and joint angles in
torque/force mode? If exists, show this error by plotting in MATLAB.
7. Similarly, plot the errors between desired position (x, y and z axis) and actual position (x, y and z
axis) in MATLAB (if exists).
8. After observing the above results, can you modify or reconfigure your manipulator to minimize the
errors? Give suggestions.
9. Place a force sensor at the tip of the manipulator before the end-effector. Find the forces exerted by
the manipulator on the end-effector. (Hint: Find the forces in x-axis, y-axis and z-axis). Explain
the behavior of the forces (why force values are positive and negative).

RUBRICS OF PROJECT EVALUATION:

1) Understanding of configuration, they have chosen.

2) Selection of path and how to use the path editing mode.
3) Understanding of use of function block or calculation module properties block
4) Code understanding (inverse kinematics and forward dynamics)
5) Understanding of use of 3D curves
6) Understanding of implementation of forward dynamics
7) Calculation of error between joint angles of IK and Dynamics mode and their plotting in MATLAB
Mechatronics & Control Engineering Dept., UET, Lahore Fall 2019

8) Calculation of error between end-effector position of IK and Dynamics mode and their plotting in
MATLAB
9) Understanding of the use of force sensor and generated force data
10) Modification in assigned manipulator

SCHOLASTIC ETHICS
It is emphasized that the students should submit their own work. If part of an existing text/ code is needed
to be used, it should to be used, it should be rephrased and properly cited. Plagiarism will not be tolerated.