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.
This experiment is available here for free > Link to the Website, opens an external URL in a new window
You can find instructions in the following video.
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