지능로봇공학 최혁렬 교수님 Term project

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성균관대학교 대학원 과정 (학석사 연계과정 포함)
지능로봇공학 수업중, Term Project를 정리한 보고서 입니다.
내용은 2DOF 의 manipulator 를 제어한 내용이 포함되어 있습니다.

목차

1. Make a code(c++) to control a two dof planar manipulator such as with PID control & Computed torque control(model based control), for the trajectories given. The link parameters are shown in the figure. Let’s assume that the manipulator moves in the plane without gravity.

C++ Code
Computed torque

2. Carry on simulations by changing the reduction ratio of 1, 10, 100, 400, and discuss the performances of the controllers, respectively.

Position Error & torque, when Reduction ratio = 1
Position Error & torque, when Reduction ratio = 10
Position Error & torque , when Reduction ratio = 100
Position Error & torque , when Reduction ratio = 400

3. Carry on simulations by changing the speed twice, four times faster etc., and discuss the performances of the controllers.

PID-control (slow-5s)
PID-control (fast-1s)
PID-Control (slow/fast)
Computed torque control (slow-5s)
Computed torque control (fast-1s)
Computed torque control (slow/fast)
PID-control & Computed torque control

4. Carry on simulations by changing the estimated dynamic parameters and discuss the effect of the accuracy of the parameters on the overall performances of the control.

M[0] = 5.0; M[1] = 3.0; (computed torque control)
M[0] = 1.5*5.0; M[1] = 1.5*3.0; (computed torque control)

5. Gain control

Kp : position gain
Kd : derivative gain
Ki : integral gain

본문내용

1. Make a code(c++) to control a two dof planar manipulator such as with PID control & Computed torque control(model based control), for the trajectories given. The link parameters are shown in the figure. Let’s assume that the manipulator moves in the plane without gravity.

C++ Code
PID

err[indx] = q_des[indx] - q[indx];
error 를 계산하는 부분
integral_err[indx]=integral_err[indx]+err[indx] ;
error 를 누적(Integral 하는 부분)

tau_des[indx] = qddot_des[indx]+kp[indx] * err[indx]
+ kd[indx] * (qdot_des[indx]-qdot[indx])
+ ki[indx]*(integral_err[indx]) - G[indx];
PID Gain 값에 따라 control 하는 부분

참고 자료

J. J. Craig, “Introduction to Robotics”, Addison Wesley, 3rd Ed.