Controlling Manipulators

This is lab 2 of 4 in the course

by Quanser Inc.

In this lab students will first complete activities that apply the fundamentals of PID Joint Control, Forward Kinematics, and Inverse Kinematics using the Quanser Mechatronic Systems Board and LabVIEW. Then, they will apply their experience by optimizing the system to a certain maximum error specification while it follows different trajectories.

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Details

LEARNING OBJECTIVES

After completing this lab, students will be able to:

Understand the purpose of proportional, derivative, and integral feedback control.
Tune PID gains to produce acceptable system responses.
Describe the theory and application of forward kinematics.
Describe the theory and application of inverse kinematics.
Design a PID controller to produce a manipulator output with maximum error.
Design a PID controller to produce a manipulator output with maximum tracking speed.

REQUIRED SKILLS

Differential Equations or equivalent
Linear Algebra or equivalent
Dynamic Systems or equivalent
Introduction to Programming or equivalent
Basic experience with LabVIEW

Requirements

LabVIEW

LabVIEW is systems engineering software for applications that require test, measurement, and control with rapid access to hardware and data insights. Learn more

NI ELVIS III

Engineering laboratory solution for project-based learning that combines instrumentation and embedded design with a web-driven experience, delivering a greater understanding of engineering fundamentals and system design. Learn more

Quanser Mechatronic Systems Board for NI ELVIS III

The Quanser Mechatronic Systems Application Board is the only solution that takes students from component-level knowledge of sensors, actuators, and interfacing fundamentals to a system-level understanding of mechatronics design. Learn more

DETAILED REQUIREMENTS

Required Software

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NI ELVIS III Software Bundle (2018 or later)
- LabVIEW (Requires license)
- LabVIEW Real-Time Module (Requires license)
- NI ELVIS III Toolkit
- LabVIEW Control Design & Simulation (Requires License)
- Vision Acquisition Software (Requires License)
- Vision Development Module (Requires License)

Required Hardware

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NI ELVIS III - View User Manual & Specifications
Quanser Mechatronic Systems Board for NI ELVIS III - View User Manual & Specifications

Resources

INSTRUCTOR RESOURCES

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OTHER RESOURCES

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