MECH 483 Robotics – 2020
Term Project
Due: Noon (12:00PM) on July 2nd, 2020 (Wednesday)
* Submit your term project report on Blackboard assignment tab.
* Zip your matlab(.m) and ADAMS(.bin) files and upload it together with report.
This is a 2-DoF system also known as “Cartpole”. A uniform rod is attached to a box by a revolute
joint which is un-actuated. The box moves along a track, so it is considered attached to the ground
by a transitional joint. The goal of this system is to prevent it from falling over by applying an
external force on box.
2. Without external force( = 0), calculate the behavior of the system and plot and over time
by using matlab( 0 ≤ ≤ 5, = 0.01) . Submit your matlab code and graph. For
comparison with ADAMS graph, must be bounded in − and (− < < ).
3. Develop ADAMS simulation model of the system and plot and over time with the same
conditions given in problem 2 ( = 0, 0 ≤ ≤ 5, = 0.01).
4. Compare and discuss the results of two programs(ADAMS and MATLAB).
(Extra) 5. To support the rod straight and stable, the external force function (, ̇) with feedback
control of and ̇ (PD control) is given as (, ̇) = −100 − 10̇. Plot and over time when
(, ̇) is applied to the box ( = (, ̇)) using MATLAB and ADAMS. Compare and discuss the
results.