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
	- Make a list for the requirements of the controller
	- Prepare and conduct tests for coupling/decoupling(JA,NK,MK) 3.5 hours
	- Prepare and conduct tests for non linearity (JA,NK,MK) 3.5 hours
	- Prepare and conduct tests for joint identification and create FRF 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
	- Finish tests for moving direction and create FRF models of the moving direction, moving direction is (JA,NK,MK) 5 hours
	- Design PID feedback controller, add feedforward and test on the robot for each axis of freedom (JA,NK,MK) 11 hours
	- Prepare testing procedure, for following of the trajectory and checking of the requirements (JA,NK,MK) 1.5 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: Feb 18 - Feb 24

1 Make a list of the requirements and design assumptions for the controller

Controller requirements:

- Each of the four inputs of the robot is required to follow the third order trajectory, thereby the resulting trajectory of the fork will be appropriate to safely move the three pizzas form there initial positions to the final positions.

- The error between the reference trajectory and the actual trajectory of the fork has to be smaller then 0.5 cm during the whole time of operation.

- The settling time of the controller needs to be less 0.5 seconds.

- The acceleration applied to the platform has to be as high as possible without a pizza falling of the platform while following the trajectory.

- The total time of transport of the three pizzas should be less 15 seconds.

Design assumptions:

- Position will be used as input reference for the pizza robot. The pizza robot provides its position as output, this information can be used to compare to the desired position in closed loop control.

- The controller works with the sampling frequency of 500 Hz, because the sampling frequency of the system is 500 Hz.

- FRF will be used to obtain a model of the system. This method can be used to obtain a model of a system without knowing all the parameters of the system.

- Initially a PID controller will be used to follow the setpoint trajectory. A PID controller will be used because it is a simple controller and every team member is familiar with the concept. To increase performance this PID controller can be extended with feedforward block. When this controller functions according to the set requirements, different control methods will be explored to investigate if it would be possible to increase performance.

2 Prepare and conduct tests for coupling/decoupling (JA,NK,MK)

Have not done yet, task is postponed to the next week. However so far we have not encountered problems with decoupling. It seems that the complete system can be approached as several SISO systems. This makes it possible to use decoupled (diagonal) controller. More detailed test are to be carried out next week.

3 Prepare and conduct tests for non linearity (JA,NK,MK)

Have not done yet, task is postponed to the next week.

4 Prepare and conduct tests for joint identification and create FRF models of the direction of motion (JA,NK,MK)

Started with FRF measurements, takes longer then expected. Especially for the vertical movement it is challenge to conduct a measurement without hitting the airbag limits of the machine. Most recent FRF models of the vertival fork displacement:

5 Set up DH transfer matrices (AS)

Inverse kinematics do not have to be determined, this has been already done, only trajectory and controllers have to be developed.

6 Generate Matlab Simulation of the kinematic chain (ER)

Kinematic chain is already provided.

7 Trajectory and Path Generation (AS,ER)

LSBP (Linear Segments with Parabolic Blends) and Quintic polynomial trajectory functions have been programmed, as well as a generic script for path generation using these functions. The functions allow to create the fastest trajectory between two points based on acceleration restrictions.

Week 2: Feb 25 - Mar 3

1 Make a list for the requirements of the controller

Controller requirements:

- Position will be used as input reference for the pizza robot. The pizza robot provides its position as output, this information can be used to compare to the desired position in closed loop control.

- Each of the four input of the robot is required to follow the third order trajectory, thereby the resulting trajectory of the fork will be appropriate to safely move the three pizzas form there initial positions to the final positions.

- The error between the reference trajectory for the rotation and the actual trajectory for the rotation of the robot has to be smaller then 2 cm.

- The rotation of the robot from one rack to the other rack should take less then 1.5 seconds.

- The settling time of the controller for the rotational movement needs to be less 0.5 seconds.

- The error between the reference trajectory for the vertical movement and the actual trajectory for the vertical movement of the fork has to be smaller then 1 cm.

- The

- The controller works with the sample frequency of 500 Hz, the sampling frequency of the system is 500 Hz.

- The acceleration applied to the platform has to be as high as possible without a pizza falling of the platform while following the trajectory.

- The total time of transport of the three pizza's should be less 15 seconds.

Assumptions:

- Initially a PID controller will be used to follow the set trajectory. A PID controller will be used because it is a simple controller and every team member is familiar with the concept. To increase performance this PID controller can be extended with feedforward. When this controller functions according to the set requirements, different control methods will be explored to investigate if it would be possible to increase performance.

2 Prepare and conduct tests for coupling/decoupling(JA,NK,MK) 3.5 hours

3 Prepare and conduct tests for non linearity (JA,NK,MK) 3.5 hours

4 Results FRF directions of motion: Rotation, translation, horizontal and vertical. (JA,NK,MK) 5 hours

5 Set up DH transfer matrices (AS) 5 hours

- Not necessary, already provided.

6 Generate Matlab Simulation of the kinematic chain (ER) 7 Hours

- Not necessary, already provided.

Week 3: Mar 4 - Mar 11

1 Test controllers on the robot (JA,NK,MK) 2 hours

-> figures of bode plots of system with controllers

2 Test trajectory generation on the simulation (ER) 3 hours

-> figures with trajectory of the different degrees of movement

3 Integrate Inverse Kinematics with Controllers (AS,ER) 2 hours

- Not necessary, already provided.

Week 4: Mar 12 - Mar 19

1 Consider different controller design methods (JA,NK,MK,AS,ER) 10 hour

2 Work on report (JA,NK,MK,AS,ER) 2 hours

Week 5: Mar 20 - Mar 27

1 Test routine generation on the robot (JA,NK,MK,AS,ER) 2 hours

2 Select optimal routine (JA,NK,MK,AS,ER) 4 hours

3 Problem solving (JA,NK,MK,AS,ER) 10 hours

4 Consider different controller design methods (JA,NK,MK,AS,ER) 10 hours

5 Test different controllers (JA,NK,MK,AS,ER) 5 hours

6 Work on report (JA,NK,MK,AS,ER) 2 hours Week 6: Mar 28 - Apr 4 1 Work on report (JA,NK,MK,AS,ER) 15 hours 2 Prepare presentation (JA,NK,MK,AS,ER) 5 hours