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Quanser |
Flexible Joint
Challenge:
Design a control system to maneuver the tip position
of an arm via a flexible joint.
Description:
This system is similar in nature to the control
problems encountered in large geared robot joints where flexibility
is exhibited in the gearbox. A rigid beam is mounted on a flexible
joint that rotates via a DC motor. The joint deflection is measured
using a sensor. Variable springs and mounting points are also provided
to change system parameters.
The idea is to design a feedback controller such
that the tip of the beam tracks a desired command while minimizing
joint deflection and resonance in the system. The system is supplied
with a state feedback controller. You may design any other controller
you wish.
Difficulty:
Undergraduate - first course, second course.
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