Integration Project Systems and Control 2013 Group 2

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Group Members

Name: Student id: Email:
Rens Samplonius 0785119 r.j.samplonius@student.tue.nl
Frank Evers 0789890 f.evers@student.tue.nl
Juan Guo 0825223 j.guo@student.tue.nl
Jeroen Lamers 0771264 j.w.lamers@student.tue.nl

Planning

Planning.jpg
Week: Activities:
Feb 18 - Feb 24
Obtain robot specifications such as motor saturation (Frank - 4 hours).
Design FRF measurement white noise injection and conduct the measurement (Rens / Jeroen - 6 hours).
Make a selection of useful literature for the other group members (Jazz - 5 hours).
Feb 25 - Mar 3
Design of kinematic model (not sure yet if needed) (Frank - 8 hours)
Analyze FRF data (Rens / Jazz - 8 hours)
Determine optimal algorithm: PID, LQG, H1, MPC or ILC (Jeroen - 4 hours)
Mar 4 - Mar 10
Design controllers based on chosen algorithm for four axises separately (loop shaping) feedback and feedforward (All - 8 hours)
Mar 11 - Mar 17
Test/tune designed controllers on the machine (Jazz / Rens - 5 hours)
Design optimal trajectory (Jeroen / Frank - 8 hours)
Mar 18 - Mar 24
Test optimal trajectory on the machine (Frank / Jeroen - 3 hours)
Make presentation + solving unexpected problems (Rens / Jazz - 3 hours)
Apr 1 - Apr 7

Progress

Week 1

  • List of what you have done and learned
  • ...

Week 2

  • ...