Search Results

world

Overview In general, the job of the control system is to turn high level instructions from the software system, and turn them into instructions for the hardware. This is done by having a distance to a goal, a turning radius, and a deltaTime as an input, and tu...

Simulation of the drive system Simulink Overview The simulation is done using a main control block called control_drive, which as inputs gets a turning radius, a distance to goal, and a deltaTime. From these inputs, different control signals are calculated for...

General structure The general structure of how the control system is made, tested, and deployed works like this: The control system is made using Simulink, using mostly the base functionality to calculate the needed values for different parts of control. Once ...

General structure The general structure of how the control system is made, tested, and deployed works like this: The control system is made using Simulink, using mostly the base functionality to calculate the needed values for different parts of control. Once ...

Overview In general, the job of the control system is to turn high level instructions from the software system, and turn them into instructions for the hardware. This is done by having a positions in 3d space (x, y z), a final gripper angle (respective to the ...

Defining terms To do kinematics on the robotic arm, it first needs to be modelled in a way to do calculations on the different joint angles and positions. This is done by using 4x4 matrix notation to represent the different joints. The different points and ang...

Simulink Overview The main simulation used for testing the control system of the robotic arm is made with Simulink, using the different parts of the Simscape suite to simulate the robotic arm. The simulation works by using a main control block that sends inst...