Integration Project Systems and Control 2013 Group 3: Difference between revisions

Revision as of 10:20, 23 February 2013

Name:	Student id:	Email:
Joep Alleleijn	0760626	j.h.h.m.alleleijn@student.tue.nl
E. Romero Sahagun	0827538	e.romero.sahagun@student.tue.nl
M. Kabacinski	0789360	m.j.kabacinski@student.tue.nl
N. Kontaras	0827208	n.kontaras@student.tue.nl
A. Simon	0676675	a.s.simon@student.tue.nl

Week:	Activities:
Feb 18 - Feb 24
	- Prepare and conduct tests for coupling/decoupling(JA,NK,MK) 3.5 hours
	- Prepare and conduct tests for non linearity (JA,NK,MK) 3.5 hours
	- Prepare and conduct tests for joint identification and create FRF models of the joints (JA,NK,MK) 5 hours
	- Set up DH transfer matrices (AS) 5 hours
	- Generate Matlab Simulation of the kinematic chain (ER) 7 Hours
Feb 25 - Mar 3
	- Design PID feedback controller, add feedforward and test on the robot for each joint (JA,NK,MK) 11 hours
	- Prepare testing procedure (JA,NK,MK) 1.5 hours
	- Implement inverse kinematics (IK) code in matlab (AS) 2 hours
	- Matlab code for trajectory generation (TG) (ER) 5 hours
Mar 4 - Mar 11
	- Test controllers on the robot (JA,NK,MK) 2 hours
	- Test trajectory generation on the simulation (ER) 3 hours
	- Integrate Inverse Kinematics with Controllers (AS,ER) 2 hours
Mar 12 - Mar 19
	- Consider different controller design methods (JA,NK,MK,AS,ER) 10 hours
	- Work on report (JA,NK,MK,AS,ER) 2 hours
Mar 20 - Mar 27
	- Test routine generation on the robot (JA,NK,MK,AS,ER) 2 hours
	- Select optimal routine (JA,NK,MK,AS,ER) 4 hours
	- Problem solving (JA,NK,MK,AS,ER) 10 hours
	- Consider different controller design methods (JA,NK,MK,AS,ER) 10 hours
	- Test different controllers (JA,NK,MK,AS,ER) 5 hours
	- Work on report (JA,NK,MK,AS,ER) 2 hours
Mar 28 - Apr 4
	- Work on report (JA,NK,MK,AS,ER) 15 hours
	- Prepare presentation (JA,NK,MK,AS,ER) 5 hours

Made a list for the requirements of the controller
Started with FRF measurements, takes longer then expected. Especially for the vertical movement it is challenge to conduct a measurement without hitting the airbag limits of the machine.
Inverse kinematics don't have to be determined, this has been already done, only trajectory and controllers have to be developed.
The complete system can be approach as several SISO systems, therefor this makes it possible to use decoupled controllers.

@@ Line 100: / Line 100: @@
 ==== Week 1 ====
 * Made a list for the requirements of the controller
 * Started with FRF measurements, takes longer then expected. Especially for the vertical movement it is challenge to conduct a measurement without hitting the airbag limits of the machine.