This year, we're going for a 3 DOF pendulum-like arm to pick and place the pucks on the table. All 3 axis are actuated. We need to implement a new control strategy since last year's approach assuming linear behavior in X/Y/Z using PID controllers didn't prove effective. We're going for a MIMO controller, most likely an LQR, with local linearization.
Steps:
[x] Implement a proof of concept in simulation (Python)
[x] Implement the controller in C++ and test against the Python implementation
[x] Mount and wire the arm prototype
[ ] Integrate and test the controller on the arm prototype
[ ] Implement live plot to ease integration and tuning on robot
antoinealb
commented
5 years ago
This year, we're going for a 3 DOF pendulum-like arm to pick and place the pucks on the table. All 3 axis are actuated. We need to implement a new control strategy since last year's approach assuming linear behavior in X/Y/Z using PID controllers didn't prove effective. We're going for a MIMO controller, most likely an LQR, with local linearization.
Steps: