Challenge:
Control the swing of a x-y gantry using a 5 DOF
linkage.
Description:
This experiment demonstrates the control problems
associated with the swinging load of large gantry cranes used in construction.
A long pendulum arm is suspended from an instrumented 2 joint gimbal
and is free to swing in two directions. The swing angles are measured
using sensors. The mechanism is attached to the tip of the 2 DOF robot.
Design a controller that dampens the pendulum's
swing using the two servo motors. The system is supplied with a state
feedback controller. You may design any other controller you wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
