Controlling Manipulators

In this lab students will first complete activities that apply the fundamentals of PID Joint Control, Forward Kinematics, and Inverse Kinematics using the Quanser Mechatronic Systems Board and LabVIEW. Then, they will apply their experience by optimizing the system to an certain maximum error specification while it follows different trajectories.
by Quanser Inc.
This is lab 2 of 4 in the course, Mechatronic Systems Analysis.

LEARNING OBJECTIVES


After completing this lab, students will be able to:
  1. Understand the prpose of proportional, derivative and integral feedback control
  2. Tune PID gains to produce acceptable system responses
  3. Describe the theory and application of forward kinematics
  4. Describe the theory and application of inverse kinematics
  5. Design a PID controller to produce a manipulator output with maximum error
  6. Design a PID controller to produce a manipulator output with maximum tracking speed
 

REQUIRED SKILLS

 
  • Differential Equations or equivalent
  • Linear Algebra or equivalent
  • Dynamic Systems or equivalent
  • Introduction to Programming or equivalent
  • Basic experience with LabVIEW

LabVIEW

LabVIEW is systems engineering software for applications that require test, measurement, and control with rapid access to hardware and data insights.

NI ELVIS III

Engineering laboratory solution for project-based learning that combines instrumentation and embedded design with a web-driven experience, delivering a greater understanding of engineering fundamentals and system design.

Quanser Mechatronic Systems Board for NI ELVIS III

The Quanser Mechatronic Systems Application Board is the only solution that takes students from component-level knowledge of sensors, actuators, and interfacing fundamentals to a system-level understanding of mechatronics design.

Required Software

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  • NI ELVIS III Software Bundle (2018 or later)
    • LabVIEW (Requires license)
    • LabVIEW Real-Time Module (Requires license)
    • NI ELVIS III Toolkit
    • LabVIEW Control Design & Simulation (Requires License)
    • Vision Acquisition Software (Requires License)
    • Vision Development Module (Requires License)

Required Hardware

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INSTRUCTOR RESOURCES

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OTHER RESOURCES

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