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Group Members
Planning
| Week: |
|
| Feb 18 - Feb 24 |
|
| Literature Study regarding the following aspects: |
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| - matlab files provided
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| - inputs/output variables regarding the given model
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| - different types of controller
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| - design Criteria
|
| Lab activity: |
|
| - meeting the robot
|
| - how the robot moves
|
| Feb 25 - Mar 3 |
|
| Literature study regarding the following aspects: |
|
| - non-linearities
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| - friction model
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| - coupled phenomena
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| - design a PID feedback controller(preparation for the lab)
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| - system identification procedures
|
| - FRF measurement(preparation for the lab)
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| Lab activity: |
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| - design the stabilizing(PID) controller
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| - get the FRF measurements
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| Mar 4 - Mar 10 |
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| Literature study regarding the following aspects: |
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| - feedforward Controller
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| - design criteria (bandwidth, margins, sensitivity, steady state error, time response)
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| - work with shapeit to design optimal controllers for each axis (prepare the controllers to test them during the lab)
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| - reference trajectory(preparation for the lab)
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| Lab activity: |
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| - get the FRF measurements for the left robot
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| - test the controllers that we construct on shapeit
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| - get the reference trajectory
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Progress
Week 1
Week 2