1 DOF prismatic robot arm

This is complete of control part of 1 DOF prismatic robot arm, in this repostory will contain code about the trajectory, controller, and state estimator. Each part will be split into a header file and source file.This code was implemented on STM32 f411re by C language and and require DSP(Digital Signal Processing) for matrix calculation.

Table of contents

• System Architecture
• Trajectory
• Trajectory Tracker
• State Estimator
• Hardware

System Architecture

Trajectory

In this project I had developed 2 types of trajectory

1. Quintic Polynomial trajectory(current use in project)

2. Trapizoid velocity profile trajectory

Trajectory Tracker

In this project I use cascade control for control velocity and position

State Estimator

Use Kalman Filter for estimate a velocity

reference:https://www.kalmanfilter.net/multiSummary.html

• Process model

• Measurement model(measure from encoder)

• resault from Kalman Filter

velocity from trajectory : orange graph

velocity calculate from encoder : blue graph

Estimate velocity : green graph

Hardware

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