Challenge:
Design a control system to position the robot tip in a plane (2-DOF) as rapidly as possible with minimum vibrations. The end-effector planar position to track and/or regulate is of the two-bar serial-kinematic mechanism that has two flexible links.

Description
This system consists of two DC motors each driving harmonic gearboxes (zero backlash), and two serial linkages. 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 the second flexible link is attached, again instrumented with a strain gage sensor. Both motors are further instrumented with high-resolution optical encoders. The Multi-Input Multi-Output (MIMO) system is supplied with a decoupled state-feedback controller reducing flexibility-caused oscillations as well as link-coupling effects. This system is fully open-architecture and you may design any other controller desired.

Difficulty
Undergraduate advanced / Graduate / Research

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