Virtual Rotary Flexible Joint

This experiment is the virtual version of the rotary flexible joint.

It consists of a rotating arm attached with springs to a rotating servo base unit. The goal is to control the angle of the arm with respect to a fixed frame of reference. Considering the springs and the actuator, i.e. electric motor, physical limitations, a dedicated controller must be design to avoid vibrations and guarantee a fast and accurate positioning of the arm.

Website

This experiment is available here for free > Link to the Website, opens an external URL in a new window

Video

You can find instructions in the following video.

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Video: Virtual Rotary Flexible Joint

Challenges for Teaching

  • Design and validation of a PID controller
  • Arm position tracking with external disturbances
  • Available Python source-code

Application in Practice

  • Control of robot arms

Courses

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