The calculated trajectory equations, inverse kinematics equations, as well as the control code that will send commands to the robot motors to control the arm (basically all input and output) needs to be visible during the simulation and be able to be fully changeable. I would like to use PID control for the motors and be able to change all of these values. I would also like to use an Arduino microcontroller, requiring interpolation.
It would be great to receive a brief guide from you detailing what you have done with the simulation and how you did it. Specifically I would like this to include suitable choices for the motors, parts, materials, and sensors (basically all electronic and mechanical components) required for the robot arm along with any justifications for the choice (e.g. calculations and your professional knowledge). Also detailing top speed and accuracy of the arm including what errors would exist and where would the largest errors come from according to the parts chosen.
The simulation should try to resemble the actual real life behaviour of the parts you have chosen above. Could you please also include the PID control loop process and integration used in the guide documentation along with any assumptions made, all variables used in the code (if not already defined) and any calculations made (kinematics, etc.).
Simulation of SCARA robot arm for 2DOF trajectory simulation Relevant Skills and Experience Robotics, 3D simulation , Control design Proposed Milestones $388 AUD - Final Milestone