the manipulator motion test is complete. The joint angle controllers are developed.The output can track the input on the whole.But I meet some difficulty while I am disigning the controller of manipulator.When i want the setpoint controll, the output will be oscillating at the new stable point.
reason:
1. the inherent drawback of the Maxon motor drive when the rotation rate is less than 1000rpm/sec.It is uncontrolled by the control signal.This is the main reason of oscillating of motor at the stable point.
Furthermore I met a difficulty that the output of joint angle is jumpped and polluted by noise. The noise error comes from two aspects.
(1)power noise.
(2)A/D transfer noise.
Currently I think the main noise source is the power noise. I planned to filter the sensor output by a low pass filter, but it is proved to be a silly idea because the filter component here can induce a phase lag. It is disadvantageous to the stablity of the control system.
thank for the comments from Professor Kuichen Yan to my control system.
回复删除It looks nice.
回复删除Can I ask a question regarding this research ?
Does it for a 6 axis robot ?
This is a 4 dof manipulator and it will be mounted on a underwater vehicle which has 6 dof.
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