Mechatronics: Project 2

flex link robot picture


System Description:

The system is composed of a single flexible link driven by a DC motor, which is attached to the base of the link.  This system is sometimes referred to as a slewing beam.  The input to the system is a voltage to the DC motor and the output is an encoder signal.  There are actually two additional outputs: a strain gage at the base of the flexible link to measure vibrations and a velocity sensor for the motor for full state-feedback control.


Objective:

To develop a PID feedback controller for the system and implement that controller in real-time on a PSoC (Programmable System-on-Chip).


Necessary Steps: