Main objectives of the assessment:
To enable students to exhibit their appreciation of the taught course material, especially to understand how to apply techniques covered in the course especially in the area of automated equipment control and to enable them to show how to extend these to the particular case.
Learning outcomes for the assessment (refer to the appropriate module learning outcomes)
A. KNOWLEDGE AND UNDERSTANDING
i. Understand the fundamentals of control
ii. Understand the criticality and importance of automation and robotics in the modern industrial environment
B. COGNITIVE (THINKING) SKILLS
i. Critically analyse automated manufacturing equipment and specify suitable approaches for control
ii. Evaluate and justify an automated system
C. OTHER SKILLS AND ATTRIBUTES (PRACTICAL/PROFESSIONAL/TRANSFERABLE)
i. Understand the issues in modelling and controlling automated equipment
ii. Apply a suitable modelling tool (MATLAB) to model and control a system
Assessment method by which a student can demonstrate the learning outcomes:
Factual answers to tasks, provision of documented code in MATLAB and discussion and interpretation of results in a single report that is marked by module leader.
Tasks:
A. Formulation:
1. Define the type of the manipulator's work envelope and its type
2. Define the manipulator configuration and choose appropriate joint drives (electric, pneumatic or hydraulic) and the relationship between the value of joint variables and actuation
Hint: In many cases prismatic joints employ linear drives that convert angular motion to linear displacement by means of a lead screw
3. Describe the models for each of the joint drives (transfer function or state-space model) - input and outputs
4. Simulate each drive system in Matlab by applying a unit step response at each model
B. Control:
1. Design a control system for each of the drives of the joints. The combined movement of the two joints should place the gripper in the desired position.
-Hint 1: we are not interested in controlling the gripping action for the gripper, only the placement of the gripper to the desired position is of interest.
-Hint 2: use Ziegler-Nichols tuning methods or State-space control design to obtain the controllers. If you follow the first method you will need the transfer function of the drives while if you follow the second method you will need the state-space model
2. Simulate the system response when applying the controller, by using the three reference signals which are given in the following paragraph.
Hints:
1. Recall, the position of the gripper is determined by the position of the joints.
2. Each joint can be controlled independently.
Attachment:- Robotics Assignment.rar