Control Robot using PD and Inversion Model
2016-08-23
0 0 0
no vote
Other
Earn points
In this project we want to control a robot (3 degree of freedom) base on PD theory and Inverse model.
Our expectation is controlling 3 theta angles in Robot arm following the referrence values (are defined)
The referrence signals will be inputs of PD Controller and output of PD controller (u) is input of Inverse Model.
The Inverse Model will calculate Torque applied in robot and with the Torque we can calculate the value of the angles (theta 1, 2, 3).
I believe that this project can help students get more understanding about robot controlling. Let enjoy.
Our expectation is controlling 3 theta angles in Robot arm following the referrence values (are defined)
The referrence signals will be inputs of PD Controller and output of PD controller (u) is input of Inverse Model.
The Inverse Model will calculate Torque applied in robot and with the Torque we can calculate the value of the angles (theta 1, 2, 3).
I believe that this project can help students get more understanding about robot controlling. Let enjoy.
matlab
Related Source Codes
GMSK Linear Receiver
0
0
no vote
NSGA-II algorithm
0
0
no vote
NSGA-III multi-objective optimization algorithm
0
0
no vote
Compressed sensing example
0
0
no vote
CFAR detector example
0
0
no vote
No comment