Cooperative control and simulation of a pair of robot manipulators

• Main Author: Lin, Wenbin
• Other Authors: Hu Guoqiang
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/167220
• Institution: Nanyang Technological University

The main goal of this project is to design a robot with a pair of manipulators. The key components of the design are control of manipulators, robot motion, and cooperative control. In this project, I will design a robot that can serve the ball as well as hit it back. This is quite different from the robots on the market today. Robots are designed using mathematical equations such as free fall equations, parabola equations, coordination systems, quadratic equations, and trigonometric functions. C++ is the programming language I will use for simulation. The scenarios that are simulated include the serving of the robot, the hitting point of the robot, the estimated dropping point of the ball after it is hit by the robot, the hitting point of the player, and the estimated dropping point after it is hit by the player... In order to give a complete picture of the hitting process, I will display the motion of the badminton ball, robot, and player based on the simulation. Once I find out which elements I forgot to include in the simulation, I will re-run it based on the results. There will also be a new badminton machine designed, with more features than those currently available in the market, which will help Singaporean players perform better in international badminton competitions.