Modeling of violin playing robot arm with MATLAB/SIMULINK

Abstract

In this research, we consider modeling of violin playing robot arm. MATLAB/SIMULINK are used for modeling of robot arm with seven degrees of freedom is considered, which is flexible than previously used robot arms with 6 joint for violin playing. Also, previous robot system which used Mitsubishi industrial robot arm (RV-2SD) is updated. In this model, torque, current consumption and voltage of each joint can be measured. Dynamixel-Pro from Robotis Co., Ltd. is used for the joints. This robot arm with seven joint has same range of movement (RoM) with human. This makes our designed robot good at violin playing. This paper presents basic violin playing technique, 3D modeling using Solidworks software, PID control system of servo motor using MATLAB/SimMechanics tool, and physical system of servo motor.