Project Title:
Microcontroller Implementation of a Small Robot Arm Controller
Week of: February 22nd, 2000
Engineers:
Megan Bern and Ritesh Patel
Advisor’s Signature: _________________
Grade: _______
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Objective:
For the week of February 29th, 2000, our objective is to implement the block diagram shown in Figure 1. Weeks 6-8 were supposed to be used to implement our menu system. Instead we will implement the block diagram shown in Figure 1 in software so that when we do implement our menu system, we will have some values to display on the LCD.
Figure 1:
Block Diagram
Progress:
The actual block diagram that represents our controller is shown in Figure 2. The feedback loop contains a potentiometer gain of 0.02805. A gain of 35.66 is used to achieve unity gain. The gain K of the system is chosen to be 0.05. This was placed at the input and in the feedback loop to avoid the multiplication and division of 16 bit numbers.
Figure 2:
Block Diagram of P Controller
Figure 3:
Block Diagram of P Controller
Conclusion:
Overall we implemented the block diagram shown in Figure 3 in software. The robot arm was moving as expected. We are on schedule. Weeks 7-9 will be used to implement our menu system. Below is the schedule for weeks 7-12.
Schedule for Weeks 7-12
Week 7 Menu System
Week 8 Menu System
Week 9 Menu System
Week 10 Testing and Evaluation
Week 11 Modify/add to Menus
Week 12 Proportional-derivative Controller