Observer-Based Robot Arm Control System
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Design Progress
2-DOF ARM
9/8/2011 - Submitted Project Confirmation Memo
10/6/2011 - Finished Functional Description and System Block Diagram
10/17/2011 - Created Website
10/27/2011 - System Modeling for 2-DOF Arm Complete
10/30/2011 - Functional Requirements and Performance Specifications Report Completed
11/3/2011 - Started testing using only proportional control
11/10/2011 - Started testing using PID controllers
11/17/2011 - Started testing with Lead-Network controller
12/1/2011 - Started testing with minor-loop control design
2/7/2012 - Completed all no-load testing using
proportional, PID, lead-network, and minor-loop control design;
Also started creating observer-based controllers
3/6/2012 - Completed no-load tests using observer-based
control design;
Started testing all controllers with loads attached to the arm
3/27/2012 - Completed all loaded testing for both
classical and observer-based control methods;
Started compiling data for comparison of design methods
PENDULUM ARM
9/8/2011 - Submitted Project Confirmation Memo
10/6/2011 - Finished Functional Description and System Block Diagram
10/13/2011 - Linear Modeling completed
10/20/2011 - PID Controller Designed
11/3/2011 - Initial Non-Linear Modelling Completed
1/21/2012 - Basic Observer Designed
2/14/2012 - Observer Tuned and Tested
2/28/2012 - Loaded System Estimated with Gain Reduction
3/12/2012 - Disturbance Measured by Error in Model & Used to augment control