Control System Introduction
You are required to develop a controller for a simple robotic arm with payload. As shown in the figure, the system is composed of the dc motor driving a single arm. The robotic arm is used to conduct a pick-and-place operation. A solid disk is attached to the end of the beam through a magnetic device (e.g., a solenoid). If the magnet is on, the disk will stick to the beam, and when the magnet is turned off, the disk is released. The disk is required to drop into a hole as fast as possible. The hole is 1 in. (25.4 mm) below the disk.
Design Criteria
The arm is required to move from the initial position in both directions. The hole location may be anywhere within an angular range of 20°to 180° from the initial position. The arm may not overshoot the desired position by more than 5°. The solid disk is moved to the hole position as fast and precise as possible (less than 1 second, the shorter the better)
Hints: The objective may be met by looking at the settling time as a key design criterion. However, you may make the design challenge more interesting by introducing other design constraints such as the percent overshoot and rise time. The idea of this control system is to get a metal object attached to a robot arm by an electromagnet from position 0° to a specified angular position with a specified overshoot and minimum overall time
Tasks
1) Design and fabricate a single robot arm with a lumped mass at the end (to simulate the solid disk)
2) Establish the robotic system using the provided DC motor and Compact RIO real time control system
3) Derive the dynamics equations including DC motor and link dynamics
4) Design a feedback controller using the methods both in time and frequency domain you learned form the course
5) Detail the analyses of stability and performance in the time and frequency domain
6) Numerical simulations of your controller using MATLAB
7) Experimental Testing and validation of your controller
8) Compare the simulations and experiments, and identify the reason for the difference, and give the suggestion for improvement
Report Format
- All photographs, graphs and diagrams should be referred to as a ? Figure ' and they should be numbered consecutively (1, 2, etc.). Provide a caption (without abbreviations) to each figure, refer to the figure (e.g., Fig. 1) in the text;
- Each table shall be numbered consecutively (1, 2, etc.). Please provide a caption (without abbreviations) to each table, refer to the table (e.g., Table 1) in the text;
- Each formula shall be numbered consecutively (1, 2, etc.). Refer to the formula (e.g., Eq (1)) in the text;
- All scientific and technical data shall be stated in SI units;
- A stand-alone table shall be included in an appendix summarizing each member 's contribution to the project and the write-up;
- Each group is required to submit an electronic archive containing a copy of the report in PDF format, and name the files with your group number
- Each report should include the objectives, introduction, summary, a listing of concise 'lessons leaned ' during the project, along with evidence, and references