Integration Project Systems and Control 2013 Group 3: Difference between revisions
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==== Week 1 ==== | ==== Week 1 ==== | ||
* Made a list for the requirements of the controller | * Made a list for the requirements of the controller | ||
* Started with FRF measurements, takes longer the expected. | * Started with FRF measurements, takes longer the expected. Especially for the vertical movement it is challenge to conduct a measurement without hitting the airbag limits of the machine. | ||
* Inverse kinematics don't have to be determined already done, only trajectory and controllers have to be developed. | * Inverse kinematics don't have to be determined already done, only trajectory and controllers have to be developed. | ||
* The complete system can be approach as several SISO systems, therefor this makes it possible to use PID controllers. | * The complete system can be approach as several SISO systems, therefor this makes it possible to use PID controllers. | ||
Revision as of 16:14, 22 February 2013
Group Members
| Name: | Student id: | Email: |
| Joep Alleleijn | 0760626 | j.h.h.m.alleleijn@student.tue.nl |
| E. Romero Sahagun | 0827538 | e.romero.sahagun@student.tue.nl |
| M. Kabacinski | 0789360 | m.j.kabacinski@student.tue.nl |
| N. Kontaras | 0827208 | n.kontaras@student.tue.nl |
| A. Simon | 0676675 | a.s.simon@student.tue.nl |
Planning
| Week: | Activities: | |
|---|---|---|
| Feb 18 - Feb 24 | ||
| - Prepare test and conduct test for coupling/decoupling(JA,NK,MK) 3.5 hours | ||
| - Prepare test for non linearity and verify non linearity (JA,NK,MK) 3.5 hours | ||
| - Prepare test joint identification and conduct test and create models of the joints (JA,NK,MK) 5 hours | ||
| - Set up DH transfer matrices (AS) 5 hours | ||
| - Generate Matlab Simulation of the kinematic chain (ER) 7 Hours | ||
| Feb 25 - Mar 3 | ||
| - Design PID feedback controller, add feedforward and test on the robot for each joint (JA,NK,MK) 11 hours | ||
| - Prepare testing procedure (JA,NK,MK) 1.5 hours | ||
| - Implement inverse kinematics (IK) code in matlab (AS) 2 hours | ||
| - Matlab code for trajectory generation (TG) (ER) 5 hours | ||
| Mar 4 - Mar 11 | ||
| - Test controllers on the robot (JA,NK,MK) 2 hours | ||
| - Test trajectory generation on the simulation (ER) 3 hours | ||
| - Integrate Inverse Kinematics with Controllers (AS,ER) 2 hours | ||
| Mar 12 - Mar 19 | ||
| - Consider different controller design methods (JA,NK,MK,AS,ER) 10 hours | ||
| - Work on report (JA,NK,MK,AS,ER) 2 hours | ||
| Mar 20 - Mar 27 | ||
| - Test routine generation on the robot (JA,NK,MK,AS,ER) 2 hours | ||
| - Select optimal routine (JA,NK,MK,AS,ER) 4 hours | ||
| - Problem solving (JA,NK,MK,AS,ER) 10 hours | ||
| - Consider different controller design methods (JA,NK,MK,AS,ER) 10 hours | ||
| - Test different controllers (JA,NK,MK,AS,ER) 5 hours | ||
| - Work on report (JA,NK,MK,AS,ER) 2 hours | ||
| Mar 28 - Apr 4 | ||
| - Work on report (JA,NK,MK,AS,ER) 15 hours | ||
| - Prepare presentation (JA,NK,MK,AS,ER) 5 hours |
Progress
Week 1
- Made a list for the requirements of the controller
- Started with FRF measurements, takes longer the expected. Especially for the vertical movement it is challenge to conduct a measurement without hitting the airbag limits of the machine.
- Inverse kinematics don't have to be determined already done, only trajectory and controllers have to be developed.
- The complete system can be approach as several SISO systems, therefor this makes it possible to use PID controllers.
Week 2
- ...