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Quanser |
2 DOF Serial Flexible Joint
Challenge:
Design a control system to position the robot tip in a plane (2-DOF)
as rapidly as possible with minimum vibrations. The end-effector planar
position to track and/or regulate is of the two-bar serial-kinematic
mechanism that has two flexible joints.
Description:
This system consists of two DC motors each driving harmonic gearboxes
(zero backlash) in a two-bar serial linkage. Both links are rigid. The
primary link is coupled to the first drive by means of a flexible joint.
It carries at its end the second harmonic drive which is coupled to the
second rigid link via another flexible joint. Both motors and both flexible
joints are instrumented with quadrature optical encoders. Both flexible
joints use two springs each that can be changed. In addition, a thumbscrew
mechanism is available to move each spring end to different anchor points
along its support bars, as desired. The Multi-Input Multi-Output (MIMO)
system is supplied with a decoupled state-feedback controller reducing
flexibility-caused oscillations as well as link-coupling effects. This
system is fully open-architecture and you may design any other controller
desired.
Difficulty:
Undergraduate advanced / Graduate / Research
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