Its been about 15 days since the last post. From here on I will be explaining our progress step by step.
As in every control system project the first step is to have a mathematical model of the system that is to be controlled. For those of you who have a strong background in Statics and Dynamics, it might not be very difficult to make a model yourself. For others, many people have proposed their models and published their results. One of the easiest mathematical is given in the research paper the link to which is given below.
The model contains 6 differential equations. Therefore in all there are 12 states that are to be controlled (6 velocities and 6 positions).
The model contains two terms that some of you might not have heard i.e. Euler angles and rotation matrix. The two are connected to each other. A lot of literature is available on the subject but the easiest is to watch a lecture delivered on the topic. I am giving a link to one(actually there are two of them) of those at the end of the post.
Thats all from me for the time being. I will be explaining the model and our selection of components in the future posts. Chao
Mathematical Model: http://www.megaupload.com/?d=R4K79DF5
Lectures : http://see.stanford.edu/see/lecturelist.aspx?coll=86cc8662-f6e4-43c3-a1be-b30d1d179743 (lectures 3 and 4)
As in every control system project the first step is to have a mathematical model of the system that is to be controlled. For those of you who have a strong background in Statics and Dynamics, it might not be very difficult to make a model yourself. For others, many people have proposed their models and published their results. One of the easiest mathematical is given in the research paper the link to which is given below.
The model contains 6 differential equations. Therefore in all there are 12 states that are to be controlled (6 velocities and 6 positions).
The model contains two terms that some of you might not have heard i.e. Euler angles and rotation matrix. The two are connected to each other. A lot of literature is available on the subject but the easiest is to watch a lecture delivered on the topic. I am giving a link to one(actually there are two of them) of those at the end of the post.
Thats all from me for the time being. I will be explaining the model and our selection of components in the future posts. Chao
Mathematical Model: http://www.megaupload.com/?d=R4K79DF5
Lectures : http://see.stanford.edu/see/lecturelist.aspx?coll=86cc8662-f6e4-43c3-a1be-b30d1d179743 (lectures 3 and 4)
