Observer-Based Robot Arm Control System

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Design Progress

2-DOF ARM

 9/8/2011 - Submitted Project Confirmation Memo

10/6/2011 - Finished Functional Description and System Block Diagram

10/17/2011 - Created Website

10/27/2011 - System Modeling for 2-DOF Arm Complete

10/30/2011 - Functional Requirements and Performance Specifications Report Completed

11/3/2011 - Started testing using only proportional control

11/10/2011 - Started testing using PID controllers

11/17/2011 - Started testing with Lead-Network controller

12/1/2011 - Started testing with minor-loop control design

2/7/2012 - Completed all no-load testing using proportional, PID, lead-network, and minor-loop control design;
                Also started creating observer-based controllers

3/6/2012 - Completed no-load tests using observer-based control design;
                Started testing all controllers with loads attached to the arm

3/27/2012 - Completed all loaded testing for both classical and observer-based control methods;
                  Started compiling data for comparison of design methods

PENDULUM ARM

9/8/2011 - Submitted Project Confirmation Memo

10/6/2011 - Finished Functional Description and System Block Diagram

10/13/2011 -  Linear Modeling completed

10/20/2011 - PID Controller Designed

11/3/2011 - Initial Non-Linear Modelling Completed

1/21/2012 -  Basic Observer Designed

2/14/2012 - Observer Tuned and Tested

2/28/2012 - Loaded System Estimated with Gain Reduction

3/12/2012 - Disturbance Measured by Error in Model & Used to augment control