2 DOF Planar Robot User Manual Quanser Inc. 2013

Transcription

2 DOF Planar Robot
User Manual
2 DOF Planar Robot
Quanser Inc.
2013
© 2013 Quanser Inc., All rights reserved.
Quanser Inc.
119 Spy Court
Markham, Ontario
L3R 5H6
Canada
[email protected]
Phone: 1-905-940-3575
Fax: 1-905-940-3576
Printed in Markham, Ontario.
For more information on the solutions Quanser Inc. offers, please visit the web site at:
http://www.quanser.com
This document and the software described in it are provided subject to a license agreement. Neither the software nor this document may be
used or copied except as specified under the terms of that license agreement. All rights are reserved and no part may be reproduced, stored in
a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior
written permission of Quanser Inc.
2 DOF PLANAR ROBOT User Manual
2
CONTENTS
1
Presentation
1.1
Description
1.2
Experiment Overview
4
4
4
2
2 DOF Planar Robot
Components
2.1
2 DOF Planar Robot Component Nomenclature
2.2
Component Descriptions
6
6
7
3
2 DOF Planar Robot Setup and Configuration
3.1
Pen Setup
3.2
Calibration Procedure
9
9
10
4
Wiring Procedure
4.1
Cable Nomenclature
4.2
Connection using a Two-Channel Current
Amplifier
4.3
Connections using a Two-Channel Voltage
Amplifier
11
11
5
Technical Support
12
14
16
DRAFT - September 6, 2013
1
PRESENTATION
1.1 Description
The Quanser 2-DOF Planar Robot, shown below in Figure 1.1, is a parallel robotic manipulator used to teach robot
concepts such as kinematics and calibration. The robot is comprised of a five-bar parallel mechanism driven by two
DC motors with harmonic drive gearboxes. Motor position feedback for both motors is provided by optical encoders
that measure the angular position of the motor shaft. The five-bar mechanism has a unique end effector that allows
the robot to hold a pen. By actuating the end effector linked solenoid, the pen can be deployed, so that robot motions
are traced on paper below.
Figure 1.1: Quanser 2 DOF Planar Robot system
Caution: This equipment is designed to be used for educational and research purposes and is not
intended for use by the general public. The user is responsible to ensure that the equipment
will be used by technically qualified personnel only.
1.2 Experiment Overview
Four separate models have been provided with the 2 DOF Planar robot to help you get started.
1.2.1 Setup File
File Name: planar2dof_setup.m
This setup file defines many constants limits and gains used in the four demonstration models. This file is run by
each of the demonstration models.
1.2.2 Calibration
File Name: planar2dof_calibration.mdl
Model used to calibrate the robot to a know configuration.
4
1.2.3 Open Loop IO Checkout
File Name: planar2dof_iocheck.mdl
In this model all of the IO used in a robot controller is tested. This model can be used to verify that all of the
components are working and that the system has been wired correctly.
1.2.4 Closed Loop Joint Controller with Forward Kinematics
File Name: planar2dof_joint_control.mdl
In this model 2 independent PD joint controllers have been implemented. The controller gains can be tuned using
the slider gains to improve the performance.
1.2.5 Closed Loop Cartesian Controller with Forward and Inverse Kinematics
File Name: planar2dof_kinematic.mdl
In this model both the forward and inverse position kinematics have been implemented. The user can command the
end effector to move in Cartesian space. The kinematics have been defined based on the definitions in Figure 1.2.
Figure 1.2: 2 DOF Planar Robot Kinematic Definitions
2
2 DOF PLANAR ROBOT
COMPONENTS
The 2 DOF Planar Robot components are identified in Section 2.1. Some of the those components are then described
in Section 2.2.
2.1 2 DOF Planar Robot Component Nomenclature
The 2 DOF Planar Robot components listed in Table 2.1 below are labeled in Figure 2.1 and Figure 2.2.
ID
1
2
3
4
5
6
Component
Link 1
Link 2
Link 3
Link 4
Solenoid
Pen
ID
7
8
9
10
11
12
Component
Calibration Posts
Motors w. Harmonic Drives
Encoders
Base Plate
Paper Retainer
Holes for calibration posts (when not in use)
Table 2.1: 2 DOF Planar Robot Components
Figure 2.1: 2 DOF Planar Robot Components
6
Figure 2.2: 2 DOF Planar Robot Components
Note: Components 8 and 9 are not shown as they are hidden by the case.
2.2 Component Descriptions
2.2.1 DC Motor with Harmonic Drive
The motor used to drive the five-bar mechanism is a Maxon DC motor (118752) attached to a harmonic drive with
gear ratio 50:1. Harmonic drives provide gearing with zero backlash. The motors are referred to as ‘left’ and ‘right’
in this manual and are labeled accordingly on the above figure.
Caution: High-frequency signal applied to a motor will eventually damage the gearbox motor and the motor
brushes. The most likely source for high frequency noise is derivative feedback. If the derivative
gain is set too high, a noisy voltage will be fed into the motor. To protect your motor, you should
always band limit your signal (especially derivative feedback) to a value of 50 Hz.
Caution: Input ±24 V, 3 A peak, 1.16 A continuous.
2.2.2 Incremental Encoder
The encoders used to measure the motor’s angular position are rotary incremental encoders from US Digital’s E5
series. The encoders have 1024 counts per revolution (CPR) and are read in quadrature mode by the DAQ resulting
in 4096 counts per revolution.
Caution: Make sure you connect the encoder directly to your data-acquistion device and not to the power
amplifier.
2.2.3 Solenoid
The solenoid is a 12VDC continuous duty actuator. This means that the solenoid can be left actuated indefinitely
without overheating. The solenoid has a ½” stroke with an output force measuring 20 oz. at 1/8'' stroke and draws
5.5W of power.
8
3
2 DOF PLANAR ROBOT SETUP
AND CONFIGURATION
Caution: If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
3.1 Pen Setup
The 2-DOF Planar Robot is shipped without the pen in place. The setup procedure is required to set the pen up
properly and will be outlined here.
1. Place the robot in a configuration such that the end effector is somewhere in the workspace.
2. Make sure the thumb screw in the end effector is not protruding into the hole (picture on left in Figure 3.1)
where the pen goes. Place the pen in the hole and leave the screw disengaged.
(a) Screw Disengaged
(b) Tightened Screw
Figure 3.1: Thumb screw setup
3. Manually extend the solenoid until it reaches the end of its stroke. Tighten the pen in place at this point with
the thumb screw. This is not the final resting place of the pen so don’t tighten too much.
Figure 3.2: Pen in downward position
4. Allow the solenoid to retract now and loosen the thumbscrew while holding the pen in place. Move the pen
down towards the paper by about 1-2mm and tighten the thumbscrew firmly.
Figure 3.3: Pen Adjustment
5. Move the pen around the workspace to ensure that the pen is writing on all parts of the page. If it is not, adjust
the pen again and if problems persist, refer to the troubleshooting section of this manual.
3.2 Calibration Procedure
Each time the robot is reconnected to the control PC, or the PC has been rebooted, the robot must be calibrated.
Calibration of the robot is the process of placing the robot is a know configuration and setting the encoder count to
the appropriate value for that location. To calibrate the robot follow these instructions.
1. Install the stainless steel calibration posts into the set of calibration holes as shown in Figure 2.1.
2. Manually push Link1 and Link 2 up against the calibration posts as shown in Figure 2.2.
3. Run the calibration model, dof_calibration.mdl.
4. Remove the calibration posts and store them in their storage locations (#12 in Figure 2.1).
The robot will remain calibrated as long as the control computer remains on, and the encoder cables remain connected. If either of these conditions ceases to exist, the calibration procedure must be performed again.
10
4
WIRING PROCEDURE
The following is a listing of the hardware components used in this experiment:
1. Power Amplifier: Quanser AMPAQ-L2, Quanser VoltPAQ-X2, or equivalent.
2. Data Acquisition Board: Quanser Q2-USB (or Q8-USB), QPID/QPIDe, NI DAQ, or equivalent.
3. Experiment: Quanser 2 DOF Planar Robot
4. Power Supply: 12V DC Power Supply for Solenoid
See the corresponding documentation for more information on these components. The cables supplied with the 2
DOF Planar Robot are described in Section Section 4.1 and the procedure to connect the above components is
given in Section 4.2.
4.1 Cable Nomenclature
The cables used to connect the Quanser 2 DOF Planar Robot system with a power amplifier and data acquisition
device are shown in Table 4.1. Depending on your configuration, not all these cables are necessary.
Cable
Type
2xRCA to 2xRCA
Description
This cable connects an analog output of the data
acquisition terminal board to the power module for
proper power amplification.
2x5-pin-stereo-DIN to 5pin-stereo-DIN
This cable carries the encoder signals between an
encoder connector and the data acquisition board (to
the encoder counter). Namely, these signals are: +5
VDC power supply, ground, channel A, and channel
B
16-pin ribbon cable
This cable carries the command signal for the
solonoid on channel 2.
2x4-pin-DIN to 6-pin-DIN
This cable connects the output of the VoltPAQ-X2
power module, after amplification, to the desired DC
motor on the servo.
2x4-pin-DIN to 2-pin locking
This cable connects the output of the AMPAQ-L2
power module, after amplification, to the desired DC
motor on the servo.
(a) RCA Cable
(b) Encoder Cable
(c) Ribbon Cable
(d) Motor Cable (VoltPAQ)
(e) Motor Cable (AMPAQ)
Table 4.1: Cables used to connect 2 DOF Planar Robot to amplifier and DAQ device
4.2 Connection using a Two-Channel Current
Ampliﬁer
This section describes the typical connections used to connect the 2 DOF Planar Robot to a data-acquisition board
and a two channel voltage amplifier. The connections are summarized in Table 4.2, and pictured in Figure 4.1.
Connection details are given below.
Note: The wiring diagram shown in Figure 4.1 is using a generic data acquisition device. The same connections
can be applied for any data acquisition system that has least 2x analog outputs, 1 x digital output, and 2x encoder
input.
12
Cable
#
1
2
3
4
5
6
7
From
To
Signal
Terminal Board: Analog
Output #0
Terminal Board: Analog
Output #1
Amplifier: To Load #0
connector
Amplifier: To Load #1
connector
Terminal Board: Encoder
Input #0
Terminal Board: Encoder
Input #1
Terminal Board: Digital Input
Amplifier Amplifier Command #0
connector
Amplifier Amplifier Command #1
connector
2 DOF Planar Robot Left Motor
connector
2 DOF Planar Robot Right Motor
connector
2 DOF Planar Robot Left Encoder connector
2 DOF Planar Robot Right Encoder connector
2 DOF Planar Robot Digital I/O
connector
Control signal to the amplifier for left
motor.
Control signal to the amplifier for right
motor.
Power leads to the 2 DOF Planar Robot
left DC motor.
Power leads to the 2 DOF Planar Robot
right DC motor.
Left motor encoder load shaft angle
measurement.
Right motor encoder load shaft angle
measurement.
Command signal for the solonoid on
channel 2.
Table 4.2: 2 DOF Planar Robot AMPAQ Wiring
Figure 4.1: Connecting the 2 DOF Planar Robot to a Dual-Channel Current Amplifier and Two-Channel DAQ
Follow these steps to connect the 2 DOF Planar Robot system:
1. Make sure that your data acquisition device is installed and is operational. For example, if using the Quanser
Q2-USB see Reference [1].
2. Make sure everything is powered off before making any of these connections. This includes turning off your
PC and the amplifier.
3. Connect one end of the 2xRCA to 2xRCA cable from the Analog Output Channel #0 on the terminal board to
the Amplifier Command #0connector on the amplifier, i.e., use both white or both red RCA connectors. See
cable #1 shown in Figure 4.1.
4. Connect the other 2xRCA to 2xRCA cable from the Analog Output Channel #1 on the terminal board to the
Amplifier Command #1connector on the amplifier, i.e., use both white or both red RCA connectors. See cable
#2 shown in Figure 4.1.
5. Connect one 4-pin-stereo-DIN to 2-pin locking cable that is labeled from To Load #0 on the amplifier to the Left
Motor connector on the 2 DOF Planar Robot. See connection #3 shown in Figure 4.1.
6. Connect the other 4-pin-stereo-DIN to 2-pin locking cable that is labeled from To Load #1 on the amplifier to
the Right Motor connector on the 2 DOF Planar Robot. See connection #4 shown in Figure 4.1.
7. Connect the 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Left Encoder connector on the 2 DOF Planar
Robot panel to Encoder Input # 0 on the terminal board, as depicted by connection #5 in Figure 4.1.
8. Connect the 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Right Encoder connector on the 2 DOF Planar
Robot panel to Encoder Input # 1 on the terminal board, as depicted by connection #6 in Figure 4.1.
Caution: Any encoder should be directly connected to the data-acquisition terminal board (or equivalent)
using a standard 5-pin DIN cable. DO NOT connect the encoder cable to the amplifier!
9. Connect the Digital I/O connector on the 2 DOF Planar Robot to the Digital Output header on the terminal
board using the ribbon cable. See connection #7 in Figure 4.1. This carries the solonoid command signal.
4.3 Connections using a Two-Channel Voltage
Ampliﬁer
This section describes the wiring required for a voltage amplifier that has two channels, e.g., such as the Quanser
VoltPAQ-X2. The connections are illustrated in Figure 4.2 and are the same as given above in Table 4.2.
Note: The wiring diagram shown in Figure 4.1 is using a generic data acquisition device. The same connections
can be applied for any data acquisition system that has least 2x analog outputs, 1 x digital output, and 2x encoder
input.
14
Figure 4.2: Connecting the 2 DOF Planar Robot to a Two-Channel Voltage Amplifier and DAQ
5
TECHNICAL SUPPORT
To obtain support from Quanser, go to http://www.quanser.com/ and click on the Tech Support link. Fill in the form
with all the requested software and hardware information as well as a description of the problem encountered. Also,
make sure your e-mail address and telephone number are included. Submit the form and a technical support person
will contact you.
16
REFERENCES
[1] Quanser Inc. Q2-USB Data-Acquisition System User's Guide, 2010.

2 DOF Planar Robot User Manual Quanser Inc. 2013

Transcription

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