Integration Project Systems and Control 2013 Group 3

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 diffferent 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

• List of what you have done and learned
• ...

Week 2

• ...