EE 570: Final Project
Manipulator Design and Analysis
Presentations on: We 05/06/2009
Report Due: Mo 05/11/2009
Teams: can work in teams of two
The final project will have two parts:
- 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.
- Design your own unique manipulator (of reasonable sophistication)
for the application
and develop its forward and inverse (position and velocity)
kinematics, trajectory generation, dynamics, control, simulation
and visualization.