Quanser

2 DOF Flexible Serial Link

Challenge:

Design a control system to regulate the end-effector planar position of a two-bar serial-kinematic mechanism that has one flexible link.

Description:

This robot system consists of two DC motors driving via harmonic gearboxes (zero backlash) a two-bar serial linkage. The primary link attached to the first motor is flexible and is instrumented with a strain gage sensor. It carries at its end the second motor to which a rigid link is attached. Both motors are instrumented with high-resolution optical encoders. The purpose of the experiment is to position the tip in a plane (2 DOF) as rapidly as possible with minimum vibrations. The MIMO system is supplied with a multiple mode state-feedback controller reducing flexibility-caused oscillations as well as link-coupling effects. You may design any other controller you wish.

Difficulty:

Undergraduate advanced / Graduate / Research

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