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Quanser |
2 DOF Robot Module
Challenge:
Design a control system to manipulate the x-y position
of a 5 DOF linkage end effector.
Description:
This system is similar to the kinematic problems
encountered in the control of larger 6 DOF robots including singularities.
Two servo motors mounted at a fixed distance control two arms coupled
via two non-powered arms.
Derive the forward and inverse kinematics and design
a controller to position the x-y coordinates of the "end effector".
The system is supplied with PD controllers. You may design any other
controller you wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
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