Subject Code : 300056
Country : Australia
Assignment Task:

Assessment Schedule and Requirements:

1. Calculate the controller gains for the independent joint controllers for joints 1-3 (using the parameters given in Table 1). Using the calculated gains to design the feedback controllers for the PUMA and implement the controllers in SIMULINK. If necessary, fine-tuning of the controller gains may be required to achieve good control accuracy. Assessment time – tutorials in Week 10.

2. Develop and incorporate a joint space trajectory planner into the controller developed in Step 1. The planner should accept user specified initial and final joint positions, and joint speeds (as percentages of their nominal maximum values). Assessment time – tutorial in Week 11.

The final demonstrations of the completed projects are to be held during tutorials in Week 11. A group report is to be submitted by each group by no later than 23:59, 15th May 2020.

The group report should contain at least the following aspects:
• Aim of the project.
• Methodologies, detailed equations and calculations used in designing the controllers and trajectory planners.
• MATLAB/SIMULINK programs used in the project.
• Plots/outputs that demonstrate the effectiveness of the controller/planner.
• Conclusions

The final written report should be no more than 15 A4 pages (inclusive of MATLAB codes, but excluding coversheet and table of contents). The fonts used should not be smaller than 12 pts Times New Roman with margin of no less than 2cm on all sides. Marking criteria of the report can be found in the unit Learning Guide.


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  • Posted on : July 01st, 2019
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