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Robot Position Optimization Based on Joint Mean Torque Norm Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Learning Multivariable Controller Design: a Hands-on Approach with a Lego Robotic Arm

Authors : Victoria Serrano, Michael Thompson, Konstantinos Tsakalis

Published in: Advances in Automation and Robotics Research in Latin America

Publisher: Springer International Publishing

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Abstract

In this paper we present the multivariable controller design of a Lego Mindstorms NXT robotic arm for educational purposes. System identification was performed to estimate the parameters of a coupled plant. Uncertainties and Bode plots of the coupled system were evaluated to determine that the system could be decoupled at the DC gain value. A Proportional-Integral-Derivative (PID) controller was designed for the system after it was decoupled. These steps conform one of the basic techniques to design the controller for a multivariable system. Therefore, it is a valuable model to learn multivariable controller design for undergraduate students. This provides a hands-on approach experience in controller design where some aspects of advanced controller theory are blended with implementation details.

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previous chapter Teaching Math in Elementary Schools by LabVIEW and Lego Robots
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Metadata
Title
Learning Multivariable Controller Design: a Hands-on Approach with a Lego Robotic Arm
Authors
Victoria Serrano
Michael Thompson
Konstantinos Tsakalis
Copyright Year
2017
Book
Advances in Automation and Robotics Research in Latin America

Print ISBN: 978-3-319-54376-5

Electronic ISBN: 978-3-319-54377-2

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-54377-2_23