Integration Project Systems and Control: Difference between revisions

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[[File:Pizzabot.jpg|center|thumb|200px]]
[[File:Pizzabot.jpg|center|thumb|200px]]
----
----
= Announcements =
<table style="color:red">
<tr>
<td>05-03-2013</td>
<td>Since the right robot will be out of operation for some time, the pizza shelves have been moved to the left robot and will stay there.</td>
</tr>
<tr>
<td>05-03-2013</td>
<td>In the final contest the pizzas will have to be moved from the left to the right shelve.</td>
</tr>
<tr>
<td width="100px">01-03-2013</td>
<td>The right robot has been damaged and is OUT OF OPERATION. We are looking for a solution but currently you will have te work on the left robot only. So leave some room for other groups to experiment, and BE CAREFUL!<br/>
STOP AT ANY TIME WHEN THE ROBOT STARTS MAKING NOISE AND KEEP THE SAFETY BUTTON AT HAND!<br/>
MAKE SURE YOU CREATE A STABLE CONTROLLER!</td>
</tr>
<tr>
<td>18-02-2013</td>
<td>The left robot is now also available for experiments.</td>
</tr>
</table>


= Introduction =
= Introduction =
Line 14: Line 38:
as much knowledge from previous control courses as you can to create the
as much knowledge from previous control courses as you can to create the
winning control design.
winning control design.


= Course Schedule =
= Course Schedule =
Line 22: Line 47:


Date final contest: unknown.
Date final contest: unknown.


= Documentation =
= Documentation =
Line 28: Line 54:
all the necessary information about controlling the robot. Read it carefully.
all the necessary information about controlling the robot. Read it carefully.
* [[Media:Integration_project_S&C_Documentation.pdf|Project documentation (pdf)]]
* [[Media:Integration_project_S&C_Documentation.pdf|Project documentation (pdf)]]


= Group Wiki Pages =
= Group Wiki Pages =
Line 33: Line 60:
Group 01 - [[Integration Project Systems and Control 2013 Group 1|Visit Wiki]] - Abhishek Bareja, Ioannis Kokkinakis, Vangelis Stamatopoulus, Donatella De Cesare<br/>
Group 01 - [[Integration Project Systems and Control 2013 Group 1|Visit Wiki]] - Abhishek Bareja, Ioannis Kokkinakis, Vangelis Stamatopoulus, Donatella De Cesare<br/>
Group 02 - [[Integration Project Systems and Control 2013 Group 2|Visit Wiki]] - Rens Samplonius, Frank Evers, Juan Guo, Jeroen Lamers<br/>
Group 02 - [[Integration Project Systems and Control 2013 Group 2|Visit Wiki]] - Rens Samplonius, Frank Evers, Juan Guo, Jeroen Lamers<br/>
Group 03 - [[Integration Project Systems and Control 2013 Group 3|Visit Wiki]] - Joep Alleleijn, E Romero Sahagun, M. Kabacinski, N. Kontaras, A. Simon<br/>
Group 03 - [[Integration Project Systems and Control 2013 Group 3|Visit Wiki]] - Joep Alleleijn, E. Romero Sahagun, M. Kabacinski, N. Kontaras, A. Simon<br/>
Group 04 - [[Integration Project Systems and Control 2013 Group 4|Visit Wiki]] - Koen Gruntjens, E. van Broekhoven, W. Geelen, L. Hazeleger<br/>
Group 04 - [[Integration Project Systems and Control 2013 Group 4|Visit Wiki]] - Koen Gruntjens, E. van Broekhoven, W. Geelen, L. Hazeleger<br/>
= Robot testing schedule =
===Week: Feb 18 - Feb 24 ===
<table>
<tr>
<td width="50%"><b>Left robot</b></td>
<td width="50%"><b>Right robot (with pizza shelves)</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||..||..||..||..
|-
|2||..||..||..||..||group 2
|-
|3||..||..||..||..||group 2
|-
|4||..||..||group 2||..||group 2
|-
|5||..||..||group 2||..||..
|-
|6||..||group 3||..||..||..
|-
|7||..||group 3||..||..||..
|-
|8||..||group 3||..||..||..
|}
</td>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||..||..||..||group 4
|-
|2||..||..||..||..||group 3
|-
|3||..||..||..||group 1||group 3
|-
|4||..||..||..||group 1||group 3
|-
|5||..||..||..||group 1||group 3
|-
|6||..||..||..||group 1||group 3
|-
|7||..||..||..||..||Group 4
|-
|8||..||..||..||..||Group 4
|}
</td>
</tr>
</table>
===Week: Feb 25 - Mar 3 ===
<table>
<tr>
<td width="50%"><b>Left robot</b></td>
<td width="50%"><b>Right robot (with pizza shelves)</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||group 2||..||group 3||..||Group 3
|-
|2||group 2||..||group 3||..||Group 3
|-
|3||group 2||..||group 3||..||Group 3
|-
|4||group 2||..||group 3||..||Group 3
|-
|5||..||..||..||..||Group3
|-
|6||..||..||..||..||Group3
|-
|7||..||group 2||..||..||Group3
|-
|8||..||group 2||..||..||Group3
|}
</td>
<td>
{| class="wikitable"; style="text-align: center; color:red"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||Group1||..||group 2||..||Group 4
|-
|2||Group1||..||group 2||..||Group 4
|-
|3||Group1||..||group 2||Group 4||Group 4
|-
|4||Group1||..||..||Group 4||Group 4
|-
|5||..||Group 4||..||Group1||..
|-
|6||..||Group 4||..||Group1||..
|-
|7||Group3||Group 4||..||Group1||..
|-
|8||Group3||Group 4||..||Group1||..
|}
</td>
</tr>
</table>
===Week: Mar 4 - Mar 10 ===
<table>
<tr>
<td width="50%"><b>Left robot</b></td>
<td width="50%"><b>Right robot (with pizza shelves)</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||group 4||group 3||..||..||group 4
|-
|2||group 4||group 3||..||..||group 4
|-
|3||group 4||group 3||group 2||Group 3||group 4
|-
|4||group 4||group 3||group 2||Group 3||group 4
|-
|5||group 2||group 1||group 2||group 1||group 3
|-
|6||group 2||group 1||..||group 1||group 3
|-
|7||group 2||group 1||..||group 1||group 3
|-
|8||group 2||group 1||..||group 1||group 3
|}
</td>
<td>
{| class="wikitable"; style="text-align: center; color:red"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||group2||..||..||..||group4
|-
|2||group2||..||..||..||group4
|-
|3||group2||..||..||..||group4
|-
|4||group2||..||..||..||group4
|-
|5||group2||group4||..||..||..
|-
|6||group2||group4||..||..||..
|-
|7||group2||group4||..||..||..
|-
|8||group2||group4||..||..||..
|}
</td>
</tr>
</table>
===Week: Mar 11 - Mar 17 ===
<table>
<tr>
<td width="50%"><b>Left robot</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||group 3||group 4||..||..||group 2
|-
|2||group 3||group 4||..||..||group 2
|-
|3||group 2||group 4||..||Group 4||group 2
|-
|4||group 2||group 4||..||Group 4||group 2
|-
|5||group 2||group 1||group 3||group 1||group 3
|-
|6||group 2||group 1||group 3||group 1||group 3
|-
|7||group 3||group 1||group 3||group 1||group 3
|-
|8||group 3||group 1||group 3||group 1||group 3
|}
</td>
</tr>
</table>
===Week: Mar 18 - Mar 22 ===
<table>
<tr>
<td width="50%"><b>Left robot</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||group 2||group 2||Group 1||Group 1||Group 4
|-
|2||group 2||group 2||Group 1||Group 1||Group 4
|-
|3||group 2||group 2||Group 1||Group 1||Group 4
|-
|4||group 2||group 2||Group 1||Group 1||Group 4
|-
|5||group 2||Group 4||Group 3||Group 4||Group 3
|-
|6||group 2||Group 4||Group 3||Group 4||Group 3
|-
|7||Group 3||Group 4||Group 3||Group 1||Group 3
|-
|8||Group 3||Group 4||Group 3||Group 1||Group 3
|}
</td>
</tr>
</table>
===Week: Mar 25 - Mar 29 ===
<table>
<tr>
<td width="50%"><b>Left robot (with pizza shelves)</b></td>
<td width="50%"><b>Right robot</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||group 2||group 4||Maintenance||group 4||..
|-
|2||group 2||group 4||Maintenance||group 4||..
|-
|3||group 2||group 4||Maintenance||group 4||..
|-
|4||group 2||group 4||Maintenance||group 4||..
|-
|5||group 2||group 1||group 3||group 1||group 3
|-
|6||group 2||group 1||group 3||group 1||group 3
|-
|7||group 3||group 1||group 3||group 1||group 3
|-
|8||group 3||group 1||group 3||group 1||group 3
|}
</td>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||group 2||group 2||..||..||..
|-
|2||group 2||group 2||..||..||..
|-
|3||group 2||group 2||group 1||..||..
|-
|4||group 2||group 2||group 1||..||..
|-
|5||group 1||group 4||group 1||group 4||..
|-
|6||group 1||group 4||group 1||group 4||..
|-
|7||group 1||group 4||..||group 4||..
|-
|8||group 1||group 4||..||group 4||..
|}
</td>
</tr>
</table>
===Week: Apr 01 - Apr 05 ===
<table>
<tr>
<td width="50%"><b>Left robot (with pizza shelves)</b></td>
<td width="50%"><b>Right robot</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||group 3||..||group 4||group 1
|-
|2||..||group 3||..||group 4||group 1
|-
|3||..||group 3||group 3||group 4||group 1
|-
|4||..||group 3||group 3||group 4||group 1
|-
|5||..||group 2||group 1||group 2||..
|-
|6||..||group 2||group 1||group 2||..
|-
|7||..||group 2||group 1||group 2||..
|-
|8||..||group 2||group 1||group 2||..
|}
</td>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||group 3||..||..||group 1
|-
|2||..||group 3||..||..||group 1
|-
|3||..||group 3||group 3||..||group 1
|-
|4||..||group 3||group 3||..||group 1
|-
|5||..||group 4||group 1||group 4||..
|-
|6||..||group 4||group 1||group 4||..
|-
|7||..||group 4||group 1||group 4||..
|-
|8||..||group 4||group 1||group 4||..
|}
</td>
</tr>
</table>
===Week: Apr 08 - Apr 12 ===
<table>
<tr>
<td width="50%"><b>Left robot (with pizza shelves)</b></td>
<td width="50%"><b>Right robot</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||..||..||..||..
|-
|2||..||..||..||..||..
|-
|3||..||..||..||..||..
|-
|4||..||..||..||..||..
|-
|5||..||..||..||..||Group 1
|-
|6||..||..||..||..||Group 1
|-
|7||..||..||..||..||Group 1
|-
|8||..||..||..||..||Group 1
|}
</td>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||..||..||..||..
|-
|2||..||..||..||..||..
|-
|3||..||..||..||..||..
|-
|4||..||..||..||..||..
|-
|5||..||..||..||..||..
|-
|6||..||..||..||..||..
|-
|7||..||..||..||..||..
|-
|8||..||..||..||..||..
|}
</td>
</tr>
</table>
===Week: 27 May - 2 Jun ===
<table>
<tr>
<td width="50%"><b>Left robot (with pizza shelves)</b></td>
<td width="50%"><b>Right robot</b></td>
</tr>
<tr>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||..||..||..||..
|-
|2||..||..||..||..||..
|-
|3||..||..||..||..||..
|-
|4||..||..||..||..||..
|-
|5||..||..||..||Group 4||..
|-
|6||..||..||..||Group 4||..
|-
|7||..||..||..||Group 4||..
|-
|8||..||..||..||Group 4||..
|}
</td>
<td>
{| class="wikitable"; style="text-align: center;"
! width="50px"|Hour:
! Monday
! Tuesday
! Wednesday
! Thursday
! Friday
|-
|1||..||..||..||..||..
|-
|2||..||..||..||..||..
|-
|3||..||..||..||..||..
|-
|4||..||..||..||..||..
|-
|5||..||..||..||..||..
|-
|6||..||..||..||..||..
|-
|7||..||..||..||..||..
|-
|8||..||..||..||..||..
|}
</td>
</tr>
</table>


= Contact Details =
= Contact Details =


Supervisor: Ren&eacute; van de Molengraft (m.j.g.v.d.molengraft@tue.nl)<br/>
Supervisor: Ren&eacute; van de Molengraft ([mailto:m.j.g.v.d.molengraft@tue.nl m.j.g.v.d.molengraft@tue.nl])<br/>
Technical support: Johannes Heldens (j.p.heldens@student.tue.nl)
Technical support: Johannes Heldens ([mailto:j.p.heldens@student.tue.nl j.p.heldens@student.tue.nl])


<br/>
<br/>

Latest revision as of 08:32, 24 May 2013

Integration Project Systems and Control (4SC00)

Pizzabot.jpg


Announcements

05-03-2013 Since the right robot will be out of operation for some time, the pizza shelves have been moved to the left robot and will stay there.
05-03-2013 In the final contest the pizzas will have to be moved from the left to the right shelve.
01-03-2013 The right robot has been damaged and is OUT OF OPERATION. We are looking for a solution but currently you will have te work on the left robot only. So leave some room for other groups to experiment, and BE CAREFUL!

STOP AT ANY TIME WHEN THE ROBOT STARTS MAKING NOISE AND KEEP THE SAFETY BUTTON AT HAND!

MAKE SURE YOU CREATE A STABLE CONTROLLER!
18-02-2013 The left robot is now also available for experiments.

Introduction

In this course you will design and implement a controller and a trajectory to control an industrial robot. The goal is to use the robot to transport pizzas from one shelve to another as fast as possible. Your design will be put to the test in a contest against other student groups. The challenge is to use as much knowledge from previous control courses as you can to create the winning control design.


Course Schedule

There are no lectures for this course. You will plan weekly meetings with the project supervisor, René van de Molengraft. At the end of the course a date will be set for the final contest.

Date final contest: unknown.


Documentation

This document contains all the necessary information about controlling the robot. Read it carefully.


Group Wiki Pages

Group 01 - Visit Wiki - Abhishek Bareja, Ioannis Kokkinakis, Vangelis Stamatopoulus, Donatella De Cesare
Group 02 - Visit Wiki - Rens Samplonius, Frank Evers, Juan Guo, Jeroen Lamers
Group 03 - Visit Wiki - Joep Alleleijn, E. Romero Sahagun, M. Kabacinski, N. Kontaras, A. Simon
Group 04 - Visit Wiki - Koen Gruntjens, E. van Broekhoven, W. Geelen, L. Hazeleger


Robot testing schedule

Week: Feb 18 - Feb 24

Left robot Right robot (with pizza shelves)
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. .. .. .. ..
2 .. .. .. .. group 2
3 .. .. .. .. group 2
4 .. .. group 2 .. group 2
5 .. .. group 2 .. ..
6 .. group 3 .. .. ..
7 .. group 3 .. .. ..
8 .. group 3 .. .. ..
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. .. .. .. group 4
2 .. .. .. .. group 3
3 .. .. .. group 1 group 3
4 .. .. .. group 1 group 3
5 .. .. .. group 1 group 3
6 .. .. .. group 1 group 3
7 .. .. .. .. Group 4
8 .. .. .. .. Group 4

Week: Feb 25 - Mar 3

Left robot Right robot (with pizza shelves)
Hour: Monday Tuesday Wednesday Thursday Friday
1 group 2 .. group 3 .. Group 3
2 group 2 .. group 3 .. Group 3
3 group 2 .. group 3 .. Group 3
4 group 2 .. group 3 .. Group 3
5 .. .. .. .. Group3
6 .. .. .. .. Group3
7 .. group 2 .. .. Group3
8 .. group 2 .. .. Group3
Hour: Monday Tuesday Wednesday Thursday Friday
1 Group1 .. group 2 .. Group 4
2 Group1 .. group 2 .. Group 4
3 Group1 .. group 2 Group 4 Group 4
4 Group1 .. .. Group 4 Group 4
5 .. Group 4 .. Group1 ..
6 .. Group 4 .. Group1 ..
7 Group3 Group 4 .. Group1 ..
8 Group3 Group 4 .. Group1 ..

Week: Mar 4 - Mar 10

Left robot Right robot (with pizza shelves)
Hour: Monday Tuesday Wednesday Thursday Friday
1 group 4 group 3 .. .. group 4
2 group 4 group 3 .. .. group 4
3 group 4 group 3 group 2 Group 3 group 4
4 group 4 group 3 group 2 Group 3 group 4
5 group 2 group 1 group 2 group 1 group 3
6 group 2 group 1 .. group 1 group 3
7 group 2 group 1 .. group 1 group 3
8 group 2 group 1 .. group 1 group 3
Hour: Monday Tuesday Wednesday Thursday Friday
1 group2 .. .. .. group4
2 group2 .. .. .. group4
3 group2 .. .. .. group4
4 group2 .. .. .. group4
5 group2 group4 .. .. ..
6 group2 group4 .. .. ..
7 group2 group4 .. .. ..
8 group2 group4 .. .. ..

Week: Mar 11 - Mar 17

Left robot
Hour: Monday Tuesday Wednesday Thursday Friday
1 group 3 group 4 .. .. group 2
2 group 3 group 4 .. .. group 2
3 group 2 group 4 .. Group 4 group 2
4 group 2 group 4 .. Group 4 group 2
5 group 2 group 1 group 3 group 1 group 3
6 group 2 group 1 group 3 group 1 group 3
7 group 3 group 1 group 3 group 1 group 3
8 group 3 group 1 group 3 group 1 group 3

Week: Mar 18 - Mar 22

Left robot
Hour: Monday Tuesday Wednesday Thursday Friday
1 group 2 group 2 Group 1 Group 1 Group 4
2 group 2 group 2 Group 1 Group 1 Group 4
3 group 2 group 2 Group 1 Group 1 Group 4
4 group 2 group 2 Group 1 Group 1 Group 4
5 group 2 Group 4 Group 3 Group 4 Group 3
6 group 2 Group 4 Group 3 Group 4 Group 3
7 Group 3 Group 4 Group 3 Group 1 Group 3
8 Group 3 Group 4 Group 3 Group 1 Group 3

Week: Mar 25 - Mar 29

Left robot (with pizza shelves) Right robot
Hour: Monday Tuesday Wednesday Thursday Friday
1 group 2 group 4 Maintenance group 4 ..
2 group 2 group 4 Maintenance group 4 ..
3 group 2 group 4 Maintenance group 4 ..
4 group 2 group 4 Maintenance group 4 ..
5 group 2 group 1 group 3 group 1 group 3
6 group 2 group 1 group 3 group 1 group 3
7 group 3 group 1 group 3 group 1 group 3
8 group 3 group 1 group 3 group 1 group 3
Hour: Monday Tuesday Wednesday Thursday Friday
1 group 2 group 2 .. .. ..
2 group 2 group 2 .. .. ..
3 group 2 group 2 group 1 .. ..
4 group 2 group 2 group 1 .. ..
5 group 1 group 4 group 1 group 4 ..
6 group 1 group 4 group 1 group 4 ..
7 group 1 group 4 .. group 4 ..
8 group 1 group 4 .. group 4 ..

Week: Apr 01 - Apr 05

Left robot (with pizza shelves) Right robot
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. group 3 .. group 4 group 1
2 .. group 3 .. group 4 group 1
3 .. group 3 group 3 group 4 group 1
4 .. group 3 group 3 group 4 group 1
5 .. group 2 group 1 group 2 ..
6 .. group 2 group 1 group 2 ..
7 .. group 2 group 1 group 2 ..
8 .. group 2 group 1 group 2 ..
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. group 3 .. .. group 1
2 .. group 3 .. .. group 1
3 .. group 3 group 3 .. group 1
4 .. group 3 group 3 .. group 1
5 .. group 4 group 1 group 4 ..
6 .. group 4 group 1 group 4 ..
7 .. group 4 group 1 group 4 ..
8 .. group 4 group 1 group 4 ..

Week: Apr 08 - Apr 12

Left robot (with pizza shelves) Right robot
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. .. .. .. ..
2 .. .. .. .. ..
3 .. .. .. .. ..
4 .. .. .. .. ..
5 .. .. .. .. Group 1
6 .. .. .. .. Group 1
7 .. .. .. .. Group 1
8 .. .. .. .. Group 1
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. .. .. .. ..
2 .. .. .. .. ..
3 .. .. .. .. ..
4 .. .. .. .. ..
5 .. .. .. .. ..
6 .. .. .. .. ..
7 .. .. .. .. ..
8 .. .. .. .. ..

Week: 27 May - 2 Jun

Left robot (with pizza shelves) Right robot
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. .. .. .. ..
2 .. .. .. .. ..
3 .. .. .. .. ..
4 .. .. .. .. ..
5 .. .. .. Group 4 ..
6 .. .. .. Group 4 ..
7 .. .. .. Group 4 ..
8 .. .. .. Group 4 ..
Hour: Monday Tuesday Wednesday Thursday Friday
1 .. .. .. .. ..
2 .. .. .. .. ..
3 .. .. .. .. ..
4 .. .. .. .. ..
5 .. .. .. .. ..
6 .. .. .. .. ..
7 .. .. .. .. ..
8 .. .. .. .. ..

Contact Details

Supervisor: René van de Molengraft (m.j.g.v.d.molengraft@tue.nl)
Technical support: Johannes Heldens (j.p.heldens@student.tue.nl)


Files for supervisor:
Project files
LaTeX version of project documentation

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