MATLAB And SiMuLink LABorATory - A BASiS for LeArning reAL conTroL AppLicATionS

Abstract A laboratory for teaching computer programming and engineering concepts related to control applications was recently established in the Department of Electrical Engineering and Electronics at the Ariel University Center of Samaria. The new laboratory provides hands-on experience in the design of control systems used in different fields of engineering. The lab offers an excellent introduction to programming concepts and research concepts that are often troublesome for the undergraduates. This paper describes the general approach and practical application of MATLAB and Simulink in the frame of a laboratory for teaching control. The main aim of the laboratory is to help students gain a deep understanding of typical problems in control applications. Students prepare codes in MATLAB an

Modelado dinámico del manipulador serial Mitsubishi Movemaster RV-M1 usando SolidWorks

Se presenta la aplicación del principio energético Lagrange-Euler para obtener el modelo matemático de la dinámica del robot Mitsubishi Movemaster RV-M1. La determinación de la ubicación de los centros de masa de cada eslabón y las matrices de inercia se realiza a partir de un modelo CAD generado con el software SolidWorks, en el cual se tuvieron en cuenta los elementos internos de cada eslabón con su material y ubicación. El modelo matemático se usa para calcular los torques requeridos en una estrategia de control de compensación por gravedad, y se compara el efecto de las propiedades obtenidas con SolidWorks en la respuesta del robot con aquella obtenida utilizando parámetros reportados en literatura existente. Se obtuvieron resultados satisfactorios en los errores del espacio de la tarea mediante este enfoque, no experimental pero detallado para determinar las propiedades dinámicas de un robot usando un software relativamente económico y disponible en las universidades colombianas.This paper presents how the mathematical model of the Mitsubishi RV-M1 robot dynamics is obtained from the application of the Lagrange-Euler energy principle. A SolidWorks CAD model of the robot was created, where the internal elements material and location were considered for each link. This detailed CAD model was used in the attainment of the centers of mass and the inertia matrixes of each link. The gravity compensation control law was simulated for the robot, and the mathematical dynamic model was used to calculate the control torques. The results obtained for the SolidWorksgenerated values were compared against those using dynamic properties in available literature. Satisfactory results were obtained in the workspace error by using an approach that is very detailed although non-experimental, supported with a software that is widely used in the Mechanical Engineering Programas of the Colombian universities &nbsp

Modelado dinámico del manipulador serial Mitsubishi Movemaster RV-M1 usando SolidWorks

Se presenta la aplicación del principio energético Lagrange-Euler para obtener el modelo matemático de la dinámica del robot Mitsubishi Movemaster RV-M1. La determinación de la ubicación de los centros de masa de cada eslabón y las matrices de inercia se realiza a partir de un modelo CAD generado con el software SolidWorks, en el cual se tuvieron en cuenta los elementos internos de cada eslabón con su material y ubicación. El modelo matemático se usa para calcular los torques requeridos en una estrategia de control de compensación por gravedad, y se compara el efecto de las propiedades obtenidas con SolidWorks en la respuesta del robot con aquella obtenida utilizando parámetros reportados en literatura existente. Se obtuvieron resultados satisfactorios en los errores del espacio de la tarea mediante este enfoque, no experimental pero detallado para determinar las propiedades dinámicas de un robot usando un software relativamente económico y disponible en las universidades colombianas.This paper presents how the mathematical model of the Mitsubishi RV-M1 robot dynamics is obtained from the application of the Lagrange-Euler energy principle. A SolidWorks CAD model of the robot was created, where the internal elements material and location were considered for each link. This detailed CAD model was used in the attainment of the centers of mass and the inertia matrixes of each link. The gravity compensation control law was simulated for the robot, and the mathematical dynamic model was used to calculate the control torques. The results obtained for the SolidWorksgenerated values were compared against those using dynamic properties in available literature. Satisfactory results were obtained in the workspace error by using an approach that is very detailed although non-experimental, supported with a software that is widely used in the Mechanical Engineering Programas of the Colombian universities &nbsp