Design a control system to manipulate the x-y position of a 5 DOF linkage end effector.
This system is similar to the kinematic problems encountered in the control of larger 6 DOF robots including singularities. Two servo motors mounted at a fixed distance control two arms coupled via two non-powered arms.
Derive the forward and inverse kinematics and design a controller to position the x-y coordinates of the "end effector". The system is supplied with PD controllers. You may design any other controller you wish.
Undergraduate – second course / Graduate / Project / Research
2DOF Ball Balancer
2DOF Inverted Pendulum
Ball and Beam
Double Inverted Pendulum
Gyro / Stable Platform
Multi DOF Torsion
Position Servo (SRV02)