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Quanser |
2 DOF Flexible Serial Link
Challenge:
Design a control system to regulate the end-effector
planar position of a two-bar serial-kinematic mechanism that has one
flexible link.
Description:
This robot system consists of two DC motors driving
via harmonic gearboxes (zero backlash) a two-bar serial linkage. The
primary link attached to the first motor is flexible and is instrumented
with a strain gage sensor. It carries at its end the second motor to
which a rigid link is attached. Both motors are instrumented with high-resolution
optical encoders. The purpose of the experiment is to position the
tip in a plane (2 DOF) as rapidly as possible with minimum vibrations.
The MIMO system is supplied with a multiple mode state-feedback controller
reducing flexibility-caused oscillations as well as link-coupling effects.
You may design any other controller you wish.
Difficulty:
Undergraduate advanced / Graduate / Research
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