EE 570: Final Project

Manipulator Design and Analysis

Presentations: Fr 05/07/2010 at 03:00pm in Workman 117

Report Due: We 05/12/2010 at noon

Teams: can work individually or in teams of two

The final project will have two parts:

1. Select an application of manipulators for specialized tasks such as satellite or space station maintanance, surgery, manufacturing, etc. Research the application and existing manipulators designed to work in that particular environment (Canadarm or Canadarm2 for space, da Vinci for surgery, etc.). Write a summary of design objectives that should be achieved with such manipulators and how existing manipulators meet (or don't meet) those objectives.
2. Design your own unique manipulator (of reasonable sophistication) for the application and develop:
   • forward and inverse (position and velocity) kinematics,
   • an approach to trajectory generation and trajectories appropriate for the task,
   • dynamic model,
   • control algorithm to perform task, and
   • simulation (dynamics with control) and visualization of the robot performing task.