Integration Project Systems and Control 2013 Group 4: Difference between revisions

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==== Week 1 ====
==== Week 1 ====
* The first step in this project was to identify the pizza-robot by creating a list of all the (straightforward) (design) requirements of the pizza-robot (to design experiments) such as:
* The first step in this project was to identify the pizza-robot by creating a list of all the design requirements of the pizza-robot (to design experiments) such as:
**The pizza is not allowed to fall during transport, therefore the maximum acceleration (horizontally and vertically) is limited
** The pizza is not allowed to fall during transport, therefore the maximum acceleration in  directions is limited.
**The robot is not allowed to touch the pizza holding brackets, the trajectory design must prevent crashes
** The robot is not allowed to touch the pizza holding brackets, therefore the trajectory must be designed in such a manner that the pizza-robot does not collide with the brackets.
**3 pizza's must be transported and the pizzas must be transported as fast as possible (approx. 10-15 sec), and thus the fastest trajectory must be found
** 3 pizza's must be transported and the pizzas must be transported as fast as possible (approx. 10-15 [s]). To achieve this a good controller and trajectory for axis have to be designed.
**The controller must stabilize the system
** The controller must be stable.
**Controller output is limited, no saturation
** The output of the controller is limited for each axis i.e. we are dealing with saturation.
**The accuracy of the pizza-robot end-effector when obtaining a pizza from the brackets should be approx. 5mm
** The accuracy of the pizza-robot end-effector when obtaining a pizza from the brackets should be approximate 5 [mm].
**Controller output is limited, keep saturation of motors in mind
* Identifying limitations of the pizza-robot such as:
* A next step was to identify the limitations of the pizza-robot such as
** Degrees of freedom to specify the work space of the end-effector.
**Degrees of freedom to specify the workspace of the end-effector
** The maximum input signals [V] of the motors of the pizza-robot and consequently the maximum velocity/acceleration of each joint.
**The maximum input signals [V] of the motors of the pizza-robot and consequently the maximum velocity/acceleration of each joint
* To identify the pizza-robot in a more specific way:
* To identify the pizza-robot in a more specific way:
**The kinematics of the pizza-robot are derived which are helpfull for the trajectory design and determining the dynamics of the pizza-robot using the DH convention.  
** The kinematics of the pizza-robot are derived which are helpful for the trajectory design and determining the dynamics of the pizza-robot using the DH convention.  
**A simple model (dynamics) of the pizza-robot is determined to possibly use model-based control design (dynamics of the pizza-robot in terms of the generalized coordinates is difficult, consider a simple model for each joint seperately)
** A simple model of the pizza-robot is determined to possibly use model-based control design (dynamics of the pizza-robot in terms of the generalized coordinates is difficult, consider a simple model for each joint separately)
**FRF-measurement experiments are prepared (designing a ref. trajectory, a stabilizing controller)
** FRF-measurement experiments are prepared (designing a reference trajectory, a stabilizing controller)
* Different types of feedback-control are considered which are usable (and possible with the knowledge of the groupmembers)
* Different types of feedback-control are considered which are usable (and possible with the knowledge of the groupmembers)
** Linear quadratic regulator
** Adaptive control
** Iterative learning control


==== Week 2 ====
==== Week 2 ====

Revision as of 16:10, 17 March 2013

Group Members

Name: Student id: Email:
Koen Gruntjens 0760934 k.g.j.gruntjens@student.tue.nl
Erik van Broekhoven 0637413 e.c.v.broekhoven@student.tue.nl
Wouter Geelen 0744855 w.geelen@student.tue.nl
Leroy Hazeleger 0651762 l.hazeleger@student.tue.nl

Planning

February 18 - February 24

  • Qualitative analysis of robot
  • Derivation of kinematics and dynamics (Leroy, Erik)
  • Preparation of first experiment session (Wouter, Koen)
  • Investigate different control-design
  • Group meeting

February 25 - March 3

  • FRF-measurement and analyse (Wouter,Leroy (Tuesday))
  • Coupled/decoupled experiment (Wouter,Koen (Friday))
  • Nonlinearity experiment (Wouter,Koen (Friday))
  • Static friction experiment (Wouter,Koen (Friday))
  • Group meeting (Friday)

March 4 - March 10

  • Continue making FRF-measurements
  • Design PID controllers for all joints
  • Trajectory planning for all joints
  • Group meeting

March 11 - March 17

  • Verify trajectory planning (minimum time trajectory)
  • Optimization of PID controller
  • Group meeting

March 18 - March 24

  • Design feedforward controller
  • Implementing feedforward controller
  • Discuss and design ILC
  • Group meeting

Progress

Week 1

  • The first step in this project was to identify the pizza-robot by creating a list of all the design requirements of the pizza-robot (to design experiments) such as:
    • The pizza is not allowed to fall during transport, therefore the maximum acceleration in directions is limited.
    • The robot is not allowed to touch the pizza holding brackets, therefore the trajectory must be designed in such a manner that the pizza-robot does not collide with the brackets.
    • 3 pizza's must be transported and the pizzas must be transported as fast as possible (approx. 10-15 [s]). To achieve this a good controller and trajectory for axis have to be designed.
    • The controller must be stable.
    • The output of the controller is limited for each axis i.e. we are dealing with saturation.
    • The accuracy of the pizza-robot end-effector when obtaining a pizza from the brackets should be approximate 5 [mm].
  • Identifying limitations of the pizza-robot such as:
    • Degrees of freedom to specify the work space of the end-effector.
    • The maximum input signals [V] of the motors of the pizza-robot and consequently the maximum velocity/acceleration of each joint.
  • To identify the pizza-robot in a more specific way:
    • The kinematics of the pizza-robot are derived which are helpful for the trajectory design and determining the dynamics of the pizza-robot using the DH convention.
    • A simple model of the pizza-robot is determined to possibly use model-based control design (dynamics of the pizza-robot in terms of the generalized coordinates is difficult, consider a simple model for each joint separately)
    • FRF-measurement experiments are prepared (designing a reference trajectory, a stabilizing controller)
  • Different types of feedback-control are considered which are usable (and possible with the knowledge of the groupmembers)
    • Linear quadratic regulator
    • Adaptive control
    • Iterative learning control

Week 2

  • As already mentioned in week 1, a simple model is proposed to (possibly) use for model-based control design instead of the dynamics of the pizza-robot in terms of its generalized coordinates since this is too complex and not usable as model-based control design. (for every joint a model, with disturbances from other joints)
  • FRF-measurements are performed of each joint with a stabilizing controller and a specific reference trajectory, however large friction is encountered which seems to be not constant along the trajectory of each joint. This influence the FRF-measurements at low frequency. (improve FRF-measurements)


Week 3

  • It took a bit more time for doing the FRF-measurements. Finally we have all FRF's of the joints and all group members designed a stable controller for two joints e.g. such that every joint had at least two controllers made by 2 different members of the group.


Vertical displacement Horizontal displacement
Frf vertical.png Frf horizontal.png
Rotational displacement Linear displacement
Frf rotational.png Frf linear.png
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