From Control Systems Technology Group
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Group Members
Planning
| Week: |
|
| Feb 18 - Feb 24 |
|
| Literature Study regarding the following aspects: |
|
| - matlab files provided
|
| - inputs/output variables regarding the given model
|
| - different types of controller
|
| - design Criteria
|
| Lab activity: |
|
| - meeting the robot
|
| - how the robot moves
|
| Feb 25 - Mar 3 |
|
| Literature study regarding the following aspects: |
|
| - non-linearities
|
| - friction model
|
| - coupled phenomena
|
| - design a PID feedback controller(preparation for the lab)
|
| - system identification procedures
|
| - FRF measurement(preparation for the lab)
|
| Lab activity: |
|
| - design the stabilizing(PID) controller
|
| - get the FRF measurements
|
| Mar 4 - Mar 10 |
|
| Literature study regarding the following aspects: |
|
| - feedforward Controller
|
| - design criteria (bandwidth, margins, sensitivity, steady state error, time response)
|
| - work with shapeit to design optimal controllers for each axis (prepare the controllers to test them during the lab)
|
| - reference trajectory(preparation for the lab)
|
| Lab activity: |
|
| - get the FRF measurements for the left robot
|
| - test the controllers that we construct on shapeit
|
| - get the reference trajectory
|
Progress
Week 1
Week 2