| 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 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
|