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1 automatic arm + 5 DSP boards + 1 ARM-based microcontroller = a robust research platform
I am currently alive as an intern in Germany at Kaiserslautern Technical University (Technische Universität Kaiserslautern). I am allowance to advance ascendancy algorithms for an automatic arm in the Institute of Ascendancy Systems (Lehrstuhl für Regelungssysteme).
The automatic arm I'm alive with is a Kantana automatic arm fabricated by Neuronics AG, based out of Zurich, Switzerland. The automatic arm has been actively acclimated in industry, as apparent in this video clip, as able-bodied as added in college apprenticeship research. The automatic arm is almost baby — back absolutely continued angular it's about 3/4 of a beat or 30 inches alpine and it's bulk accommodation is beneath than bisected a kilogram (1.1 lbs). The automatic arm ability assume like it is not able of much, but it has accomplished attention and ambit of motion with its bristles degrees of freedom.
Herein lies the problem: The automatic arm is precise, as it consistently knows the accepted positions of anniversary collective and the calculations to actuate the position of the end effectors (tip of the arm or gripper), but alive the able inputs to admission a adapted position are difficult to predict. For example, afterwards feedback, accord the arm an assertive bulk of ability (input a bound bulk of activity into the system) and ask, "What is the accepted position of the arm?"
Reverse engineering the arrangement and creating an accurate archetypal are invaluable for able-bodied control. The concrete trajectories of the arrangement is calculate, but the non-linearities of the system, such as assorted types of friction, are adverse ascendancy algorithms. I've been tasked with barometer and modeling these non-linearities.
About the automatic arm:
I'm alive with an ancestor arm that is not independent in adjustment to admission all the ascendancy boards (DSPs) and award cables that affix anniversary collective together. The DSP boards are acclimated to ascendancy the geared DC motors and rotary position encoders that are evidently army on the arm. The DSPs are programmed in C++ with functions that can be alleged by the ARM-based microcontroller that is additionally programmed in C++.
In adjustment to alter cipher and abstract abstracts from the system, the DSP and microcontroller are able of two-way advice and the microcontroller can accelerate abstracts over a consecutive affiliation to the PC. I can admeasurements the accepted ascribe to anniversary motor (calculated from the voltage beyond a blow resistor compared to the voltage beyond the motor effected from the PW signal) and position of the motor with account to time.
For those who are interested, here's an attending at some of the apparatus I'm application to ascendancy the arm:
Texas Instruments TMS320F2808 (5)
NXP LPC2294 (1)
Faulhaber DC Mini motors with optical position encoders (5)
In no accurate order, my aerial ambition by the average of August are to:
• Develop a countdown action to ensure constant after-effects
o Develop a quantitative altitude (not alone time-based) of back the apprentice is 'warmed up'
• Measure accepted application congenital in altitude dent as able-bodied as an oscilloscope of voltage beyond the blow resistor
• Based off results, except a frictional archetypal for anniversary collective and assay application MATLAB
• Possibly advance a self-calibration C++ action of frictional constants that is included in the apprentice balmy up
o A self-check and indicator back arrangement is required
As I except aloof started alive with the arm, I except added agrarian account than complete plans, and acknowledgment is affably accustomed on my aloft ideas.
I think that this blazon of time accountable activity is an abundant archetype of a way to apprentice or advise mechatronics. I except had the acquaintance with microcontrollers, programming in C, architecture and physics, architecture mechatronic systems, but for this apprentice the chips, development software, dent programmer, cyber banking setup, alike accent of some airheaded are altered (I am in Germany afterwards all).
Adapting bound to an activity and to apperceive abundant concepts about an absolute arrangement — the electronics, computer application and accouterments apparatus — in adjustment to alpha analytic problems bound and calmly is at the affection of mechatronic design. I apperceive I am far from actuality a mechatronics expert, and I had adulation to apperceive what you think
I am currently alive as an intern in Germany at Kaiserslautern Technical University (Technische Universität Kaiserslautern). I am allowance to advance ascendancy algorithms for an automatic arm in the Institute of Ascendancy Systems (Lehrstuhl für Regelungssysteme).
The automatic arm I'm alive with is a Kantana automatic arm fabricated by Neuronics AG, based out of Zurich, Switzerland. The automatic arm has been actively acclimated in industry, as apparent in this video clip, as able-bodied as added in college apprenticeship research. The automatic arm is almost baby — back absolutely continued angular it's about 3/4 of a beat or 30 inches alpine and it's bulk accommodation is beneath than bisected a kilogram (1.1 lbs). The automatic arm ability assume like it is not able of much, but it has accomplished attention and ambit of motion with its bristles degrees of freedom.
Herein lies the problem: The automatic arm is precise, as it consistently knows the accepted positions of anniversary collective and the calculations to actuate the position of the end effectors (tip of the arm or gripper), but alive the able inputs to admission a adapted position are difficult to predict. For example, afterwards feedback, accord the arm an assertive bulk of ability (input a bound bulk of activity into the system) and ask, "What is the accepted position of the arm?"
Reverse engineering the arrangement and creating an accurate archetypal are invaluable for able-bodied control. The concrete trajectories of the arrangement is calculate, but the non-linearities of the system, such as assorted types of friction, are adverse ascendancy algorithms. I've been tasked with barometer and modeling these non-linearities.
About the automatic arm:
I'm alive with an ancestor arm that is not independent in adjustment to admission all the ascendancy boards (DSPs) and award cables that affix anniversary collective together. The DSP boards are acclimated to ascendancy the geared DC motors and rotary position encoders that are evidently army on the arm. The DSPs are programmed in C++ with functions that can be alleged by the ARM-based microcontroller that is additionally programmed in C++.
In adjustment to alter cipher and abstract abstracts from the system, the DSP and microcontroller are able of two-way advice and the microcontroller can accelerate abstracts over a consecutive affiliation to the PC. I can admeasurements the accepted ascribe to anniversary motor (calculated from the voltage beyond a blow resistor compared to the voltage beyond the motor effected from the PW signal) and position of the motor with account to time.
For those who are interested, here's an attending at some of the apparatus I'm application to ascendancy the arm:
Texas Instruments TMS320F2808 (5)
NXP LPC2294 (1)
Faulhaber DC Mini motors with optical position encoders (5)
In no accurate order, my aerial ambition by the average of August are to:
• Develop a countdown action to ensure constant after-effects
o Develop a quantitative altitude (not alone time-based) of back the apprentice is 'warmed up'
• Measure accepted application congenital in altitude dent as able-bodied as an oscilloscope of voltage beyond the blow resistor
• Based off results, except a frictional archetypal for anniversary collective and assay application MATLAB
• Possibly advance a self-calibration C++ action of frictional constants that is included in the apprentice balmy up
o A self-check and indicator back arrangement is required
As I except aloof started alive with the arm, I except added agrarian account than complete plans, and acknowledgment is affably accustomed on my aloft ideas.
I think that this blazon of time accountable activity is an abundant archetype of a way to apprentice or advise mechatronics. I except had the acquaintance with microcontrollers, programming in C, architecture and physics, architecture mechatronic systems, but for this apprentice the chips, development software, dent programmer, cyber banking setup, alike accent of some airheaded are altered (I am in Germany afterwards all).
Adapting bound to an activity and to apperceive abundant concepts about an absolute arrangement — the electronics, computer application and accouterments apparatus — in adjustment to alpha analytic problems bound and calmly is at the affection of mechatronic design. I apperceive I am far from actuality a mechatronics expert, and I had adulation to apperceive what you think
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