Group Members
Planning
| Week: |
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| Feb 18 - Feb 24 |
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| Literature Study regarding the following aspects: |
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| - matlab files provided
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| - inputs/output variables regarding the given model
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| - different types of controller
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| - design Criteria
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| Lab activity: |
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| - meeting the robot
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| - how the robot moves
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| Feb 25 - Mar 3 |
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| Literature study regarding the following aspects: |
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| - non-linearities
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| - friction model
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| - coupled phenomena
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| - design a PID feedback controller(preparation for the lab)
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| - system identification procedures
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| - FRF measurement(preparation for the lab)
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| Lab activity: |
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| - design the stabilizing(PID) controller
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| - get the FRF measurements
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| Mar 4 - Mar 10 |
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| Literature study regarding the following aspects: |
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| - feedforward Controller
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| - design criteria (bandwidth, margins, sensitivity, steady state error, time response)
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| - work with shapeit to design optimal controllers for each axis (prepare the controllers to test them during the lab)
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| - reference trajectory(preparation for the lab)
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| Lab activity: |
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| - get the FRF measurements for the left robot
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| - test the controllers that we construct on shapeit
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| - get the reference trajectory
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Progress
Feb 18 - Feb 24
Regarding our planning for the first week we came up with the following conclusions:
| -making a literature research, we realized that PID controller is used in most industrial robots, and since it is the type of controller with which we are more familiar with, we will use PID.
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| -we can control the move of each axis (and so each motor) separately cause they are independent. So it is needed to construct 4 PID controller, since we can handle the problem as a 4 SISO systems problem.
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| -the design of PID controller is based on the fact that is should follow the setpoint trajectory.
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| -we will use as inputs for each motor sine wave, and to represent the disturbance we will use white noise.
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| -regarding the design criteria we need total time to transfer the pizzas at about 15 secs(less than that if it is possible), as high as possible velocity and acceleration (we have to take care that the pizzas should not fall down from the fork during the movement of the robot) and also the fork should not touch the holding brackets of the pizzas. Also, the controller should work with sampling frequency of 500 Hz, because this is the sampling frequency of the system.
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Feb 25 - Mar 3
Regarding our planning for the second week we came up with the following conclusions:
| -we designed the stabilizing controller for our plant (PID controller)
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| -regarding the system identification procedures, we decided to perform FRF measurements.We took the FRF measurements applying both sine waves and white noise in order to avoid the non-linearities since FRF method refers to linear models-systems.
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| -about the friction model, we will check it on a later stage together with the feedforward control.
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