Design and control of a 1 DoF flexible manipulator

OData support
Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The aim of my thesis is to design and control a 1 degree of freedom mechatronical system. This system consists of a DC motor and a flexible metal beam that is attached to the motor shaft. The shaft of motor can be positioned using an encoder but the vibration of the tip can cause a lot of problems so it needs to be damped.

I use a gyroscope ( MPU6050 ) to measure the deflection angle of the tip of the beam and I utilize a PID controller to reduce the vibration of the manipulator. I also implement a Kalman filter to filter the noisy measurement data from the gyroscope. There are two programs that perform the controlling exercise, one of them runs on Arduino and the other in Matlab simultaneously and communicate through serial port.

The thesis consists of three main parts: the deriving of the dynamical equations of the manipulator and the simulations with this model, the design and build of the mechanical and electric parts of the manipulator and the design of the control algorithm.


Please sign in to download the files of this thesis.