This is a laboratory course which will complement students exposed to a laboratory course on robotics with various aspects of robot sensing and control that are vital to its functioning as a mechatronic system. Many students need to be aware of the type of sensors available and they way the sensors are generating signals which can be put to use in robot control. Additionally students also need to be exposed to various actuator control schemes that generate motion and control of the robots.
Course on Robotics will not be complete without understanding the control systems used in motion and force control of robots. Experiments on simple motion control of single axis system to that of multi-axis control will be designed and shown with linear and non-linear control methodologies.

OPEN LOOP CHARACTERISTICS OF DC MOTOR

CLOSED LOOP CHARACTERISTICS OF DC MOTOR with PROPORTIONAL CONTROL

CLOSED LOOP CHARACTERISTICS OF DC MOTOR with PROPORTIONAL AND DERIVATIVE CONTROL

CLOSED LOOP CHARACTERISTICS OF DC MOTOR with PROPORTIONAL AND INTEGRAL CONTROL

CLOSED LOOP CHARACTERISTICS OF DC MOTOR with PROPORTIONAL-DERIVATIVE-INTEGRAL CONTROL (CONTINUOUS-TIME)

CLOSED LOOP CHARACTERISTICS OF DC MOTOR with PROPORTIONAL-DERIVATIVE-INTEGRAL CONTROL (DISCRETE-TIME)

CONTROL OF ONE DEGREE OF FREEDOM REVOLUTE TYPE ROBOT ARM

CONTROL OF UNDERWATER ROBOT