Integration Project Systems and Control 2013 Group 2

Group Members

Name:	Student id:	Email:
Rens Samplonius	please fill in	r.j.samplonius@student.tue.nl
Frank Evers	please fill in	f.evers@student.tue.nl
Juan Guo	please fill in	j.guo@student.tue.nl
Jeroen Lamers	please fill in	j.w.lamers@student.tue.nl

Planning

Week:	Activities:
Feb 18 - Feb 24
Obtain robot specifications such as motor saturation (Frank - 4 hours).
Rens / Jeroen Design FRF measurement white noise injection and conduct the measurement 6 hours 2x.
Jazz Make a selection of useful literature for the other group members 5 hours.
Feb 25 - Mar 3
Frank Design of kinematic model (not sure yet if needed) 8 hours
Rens / Jazz Analyze FRF data 8 hours 2x
Jeroen Determine optimal algorithm: PID, LQG, H1, MPC or ILC 4 hours
Mar 4 - Mar 10
All Design controllers based on chosen algorithm for four axises separately (loop shaping) feedback and feedforward 8 hours 4x
Mar 11 - Mar 17
Jazz / Rens Test/tune designed controllers on the machine 5 hours 2x
Jeroen / Frank Design optimal trajectory 8 hours 2x||
Mar 18 - Mar 24
Frank / Jeroen Test optimal trajectory on the machine 3 hours 2x
Rens / Jazz Make presentation + solving unexpected problems 3 hours 2x
Apr 1 - Apr 7

Progress

Week 1

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

Week 2

• ...