ELEC60030 Robotic Manipulation Coursework - OpenManipulatorX

Coursework completed on the OpenManipulator X attached to an acrylic plate with 25mm spaced square holes that for positioning objects for interaction

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Evaluation

• Report

  • Description
  • Design choices
  • Graphics
  • DH table
  • Inverse Kinematics in Appendix

• Video demo of tasks

• Demo Day

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Tasks

Task 1 - Modelling

• Designing and assigning coordinate frames for the robot
• Writing graphical simulations using Matlab
• Determine the Inverse Kinematics of the robot
• Demostrating the inverse kinematics with the simulation
  • Tracing a square in each cartesian plane with end effector
  • Create a video demonstrating the tracing action

Task 2 - Pick and Place

Given the cube positions and orientations, perform:

• Translation
• Re-orientation
• Re-orientating and stacking several cubes on to

Task 3 - Trajectory Following

Given a specified trajectory, trace a trajectory with a pen consisting of straight lines and curves of constant radius

• Smoothness and accuracy are important
• Designing 3D parts to hold the pen securely

Task 4 - Self-selected Task

Create a application for robotic manipulation using a 4 DOF + 1 DOF gripper.

Guidelines:

• No liquids
• No electrical objects

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Useful links

OpenMANIPULATOR-X

• Specifications: https://emanual.robotis.com/docs/en/platform/openmanipulator_x/specification/#specification

MATLAB

• MATLAB support for OpenMANIPULATOR-X: https://community.robotis.us/t/matlab-robot-manipulator-walkthrough-algorithms-with-openmanipulator-x/401
• MATLAB OPENMANIPULATOR-X Simulation Files: https://uk.mathworks.com/matlabcentral/fileexchange/65316-designing-robot-manipulator-algorithms

Theory

• Coordinate frames: https://w3.cs.jmu.edu/spragunr/CS354_F16/handouts/frames.pdf

General

• Plotting animated line in 3D: https://stackoverflow.com/questions/36269928/matlab-animated-line-in-3d