ME 5960/6960 Section 4

Introduction to Robotic Control

Spring 2007

Projects

Class Projects

Lab	Due	Assignment
1	4/10/07	Torque constant determination [pdf]
2	4/17/07	Ziegler-Nichols PID tuning [pdf]
3	4/24/07	Least squares determination of system dynamics [pdf]

Background: Haptic Paddles

• Stanford Haptic Paddle
  1. Motor spin down test [pdf]
  2. Bifilar pendulum [pdf]
  3. Equivalent inertia [pdf]
  4. Motor constants and sensor calibration [pdf]
  5. Feedback control [pdf]
• JHU Haptic Paddle
• Rice Haptic Paddle
  1. Motor spin down test [pdf]
  2. Inertial and sensor calibration [pdf]
  3. System components [pdf]
  4. Virtual systems [pdf]