Project goal: to determine the angles of the loose arm and the powered arm and to control them, by performing measurements and detecting the system's parameters, and to close a control loop in real time.
Work stages:
Model the system in simulink
Developing a model for measurements and creating Bode graph
Control of a single arm
Control of both arms
Adaptive control for the 2 armed system and for the flexible joint system
Main matlab functions:
fft_meas: The function inputs sinus waves in different frequencies to the system and by performing an fft transformation on the system input and output and evaluating bode parameters for the system. Finally, the function draws bode graph for the closed loop system and extracts the open loop bode parameters.
Real_time_code: The function runs the RT model with the adaptive controller and draws the relevant graphs (Tracking, parameter convergence, bode, pole/zero map)
