Controlling a Robot hand in MATLAB simulation and reality

Overview

This MATLAB project is about creating a mechanical arm which actuates according to the directions given it. The project can be made in different ways and we will see the simplest way of creating it. We will make the project possible with the help of MATLAB/Simulink. The use of MATLAB is very extensive in the field of IT and Robotics. The design and material should be used carefully picked for the project.

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Procedure

For the project to work properly, we have to ensure that they follow certain rules such as;

• The hand should be less than 500g.
• The grasping force should be not less than 10 N.
• Make it rotatable for about 180 degrees.
• The ability to push buttons.

Requirements for the project

• Motors, Pulley, wire
• Rotors
• MATLAB
• Controller

Implementation

In the model, we will place the rotors at the hinges of fingers and connect with a wire. The wire will be connected to a motor which will be connected to the controller. The controller will be given instructions with the help of MATLAB and Simulink. As we know that Simulink gives a real-life modification to our models. 

As the movements of the fingers along the rotors require manipulation of angles, MATLAB is considered good for this particular action. We all know that, how MATLAB provide us with different methods to work properly with all the mathematical operations. A robot arm is built and then modified with the help of an interface card. Simulink is used to see our design which is physically working in the desktop to perform various operations. All in the entire project is mainly based on Simulink and MATLAB. The virtual robot which is working in our systems is tested with all possible operations. 

The virtual simulation helps to know more about the arm without damaging it. It saves time and cost. The similarity between these two models should also be verified by using different reference signals. The different cases are studied and then required improvement was made. The results are to be stored well to see how the arm works. Make different experiments like holding bottles, cutting things and much more stuff. This project will give you a glimpse of how the robotics world work and how amazing it is. 

The programs were created by GUI and the trajectories for the arm are to be expressed well to the system. The joint performances depend on the trajectory performance and the movement of joints is based on that. A proper function is also defined to deal with all the calculations. The smoothness and acceleration of rotors are also to be taken care of if we wish to create a perfect project.

Conclusion

In this project, we will learn more about Simulink and MATLAB. These two aspects will also help in future works. The person who wishes to create this project must have some prior knowledge about Simulink, MATLAB and robotics. The course will also help you to understand about the mechanical aspect of the arm as well as the programming aspect. 

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• MATLAB

• MATLAB
• Robotics

Controlling a Robot hand in MATLAB simulation and reality