Digital Control System Engineering Report

Student Name
Student Registration Number
DIGITAL CONTROL SYSTEM
ENGINEERING
Report
Trimester 1, 2019.

Table of Contents
SECTION 1: DESIGN OVERVIEW..................................................................................2
SECTION 2: HARDWARE DESCRIPTION.......................................................................4
SECTION 3: MATLAB SIMULINK IMPLEMENTATION...................................................9
SECTION 4: ARDUINO IMPLEMENTATION.................................................................18
SECTION 5: DISCUSSION OF EXPERIMENT RESULTS.................................................19
REFERENCES............................................................................................................ 20
APPENDIX................................................................................................................. 20
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SECTION 1: DESIGN OVERVIEW
INTRODUCTION
A robot is a re-programmable, multifunctional manipulator designed to move material, parts,
tools or specialized devices through variable programmed motion for a variety of tasks. It
possesses certain anthropomorphic characteristics such as the mechanical arm, sensors to
respond to input and intelligence or embedded microcontrollers to make decisions or control the
mechanical parts of the robot. The robot system consists of the different elements integrated in a
manipulator or rover and the end effector is set up in different sizes and complexity from an end
effector on the machine to a different point.
Actuators are the muscles of the manipulators. Common types of actuators are servomotors,
stepper motors, and pneumatic cylinders. It has sensors are used to collect information about the
internal state of the robot or to communicate with the outside environment. Robots are often
equipped with external sensory devices such as a vision system, touch and tactile sensors which
help to communicate with the environment. The controller receives data from the computer,
controls the motions of the actuator and coordinates these motions with the sensory feedback
information.
Depending on the configuration and size of the links and wrist joints, robots can reach a
collection of points called a Workspace. Alternately Workspace may be found empirically, by
moving each joint through its range of motions and combining all space it can reach and
subtracting what space it cannot reach.
AIMS OF THE PROJECT
(i) To determine the angle of the MinSeg Robot using a gyroscope
(ii) To determine the angle using an accelerometer
(iii) To create a complimentary filter using the weighted input from the two sensors.
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