Development of a Dancing Robot: Design, Specifications, and Implementation, Study Guides, Projects, Research of Algorithms and Programming

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Team 4 Mr. Oizo Dance Machine Roizo Chris Twarog James Godlewski Paul Basantes Kevin Horbatt Problem Statement Dancing Robot Purely for entertainment Dances to sound inputs Requirements Tempo Detection Quick, synchronized motion Objectives Process Audio Detect tempo for tilt Trigger pan motion Tilt axis (Head bob ) Move to low frequency beat Pan axis (Body twisting) Move on high frequency sounds Overall Convert music to motion Specifications Tilt Axis Less than 2% tracking error Max frequency ~ 14 rad/sec Range of motion ~ ± 25 ° Pan Axis Fast movement, 10-15% overshoot Steady state error tolerable Range of motion ~ ± 40 ° Audio Filter Filter low frequencies < 100 Hz (tilt) Filter high frequencies > 1.5 kHz (pan) Design Strategy Conceptual CAD Model Audio Filter Detect bass tempo, pan triggers Modeling Parameter identification Controller Design Integration and Verification Audio Processing 1. General sample of song2. Filt r out desired Frequency Tempo Detection Time Maximum 0.14812 0 0.14821 0 0.1483 0 0.14866 0.00033569 0.14948 0.00088501 0.1502 0.00082397 0.15102 0.0016174 0.15111 0.0016174 0.15637 0.15771 0.1668 0.50565 0.18476 0.54633 0.20218 0.4968 0.21941 0.40381 0.2371 0.25406 0.2546 0.15942 0.25469 0.15942 0.27184 0.067963 0.27193 0.067963 0.28925 0.017914 0.28934 0.017914 0.30549 0.0028687 0.30558 0.0028687 0.30567 0.0028687 0.31075 0 0.31084 0 0.31093 0 3. Isolate maximums4 Choose Threshold5. List Maximums Time Maximum 0.1848 0.5463 0.6678 0.4849 1.1150 0.5420 1.5806 0.4833 2.0441 0.5343 2.5272 0.4917 2.9742 0.5368 3.4400 0.5035 3.9035 0.5283 4.3696 0.5101 4.8361 0.5455 5.2991 0.5179 5.7644 0.5359 6.2290 0.4989 6.6946 0.5425 7.1592 0.5086 7.6237 0.5356 7.6238 0.5356 8.0896 0.5066 8.5538 0.5320 9.0181 0.5188 9.4831 0.5382 9.9488 0.4875 Trajectory Generation Red – Maximum detected in song Blue – Head Bob Movement ion t ICa Parameter Identi ing Velocity vs. Time for Input Voltage .88 to 96 ty Logg a Veloc Voltage 84 to 92 Tilt Axis Velocity vs. Time for Input Time (gecands) Time (secends) Gasypen Ansa, pabesa ay Simulation Results Friction Identification *Script Based Modeling Appropriate modeling of coulomb and viscous friction in both directions Applying saturation in both positive and negative directions. Tested using ramp function and identifying the above parameters Motor Dynamics Team 4 Mr. Oizo Dance Machine Roizo Chris Twarog James Godlewski Paul Basantes Kevin Horbatt Problem Statement Dancing Robot Purely for entertainment Dances to sound inputs Requirements Tempo Detection Quick, synchronized motion Objectives Process Audio Detect tempo for tilt Trigger pan motion Tilt axis (Head bob ) Move to low frequency beat Pan axis (Body twisting) Move on high frequency sounds Overall Convert music to motion Specifications Tilt Axis Less than 2% tracking error Max frequency ~ 14 rad/sec Range of motion ~ ± 25 ° Pan Axis Fast movement, 10-15% overshoot Steady state error tolerable Range of motion ~ ± 40 ° Audio Filter Filter low frequencies < 100 Hz (tilt) Filter high frequencies > 1.5 kHz (pan) Design Strategy Conceptual CAD Model Audio Filter Detect bass tempo, pan triggers Modeling Parameter identification Controller Design Integration and Verification Audio Processing 1. General sample of song2. Filt r out desired Frequency Tempo Detection Time Maximum 0.14812 0 0.14821 0 0.1483 0 0.14866 0.00033569 0.14948 0.00088501 0.1502 0.00082397 0.15102 0.0016174 0.15111 0.0016174 0.15637 0.15771 0.1668 0.50565 0.18476 0.54633 0.20218 0.4968 0.21941 0.40381 0.2371 0.25406 0.2546 0.15942 0.25469 0.15942 0.27184 0.067963 0.27193 0.067963 0.28925 0.017914 0.28934 0.017914 0.30549 0.0028687 0.30558 0.0028687 0.30567 0.0028687 0.31075 0 0.31084 0 0.31093 0 3. Isolate maximums4 Choose Threshold5. List Maximums Time Maximum 0.1848 0.5463 0.6678 0.4849 1.1150 0.5420 1.5806 0.4833 2.0441 0.5343 2.5272 0.4917 2.9742 0.5368 3.4400 0.5035 3.9035 0.5283 4.3696 0.5101 4.8361 0.5455 5.2991 0.5179 5.7644 0.5359 6.2290 0.4989 6.6946 0.5425 7.1592 0.5086 7.6237 0.5356 7.6238 0.5356 8.0896 0.5066 8.5538 0.5320 9.0181 0.5188 9.4831 0.5382 9.9488 0.4875 Trajectory Generation Red – Maximum detected in song Blue – Head Bob Movement ion t ICa Parameter Identi ing Velocity vs. Time for Input Voltage .88 to 96 ty Logg a Veloc Voltage 84 to 92 Tilt Axis Velocity vs. Time for Input Time (gecands) Time (secends) Gasypen Ansa, pabesa ay Simulation Results Friction Identification *Script Based Modeling Appropriate modeling of coulomb and viscous friction in both directions Applying saturation in both positive and negative directions. Tested using ramp function and identifying the above parameters Motor Dynamics Modeling = Simulated vs. Actual Velocities Velocity (step Response) Welacity (rad/sec) Velocity Pan (Step Response) Tirna (Recands) Time (Seconds) System Responses Pan Axis 12% Overshoot Fast Response Ok with spec Accurate up to ~77 rad/sec System Responses Tilt Axis 2% Error ~0 Overshoot Ok with spec Accurate up to ~70 rad/sec Actual Results a Tilt Axis Arnplitude Actual Tilt Response — Desired — Actual 1.6 a Time (secs) Conclusion Good Learning Experience MATLAB Modeling Control Design Satisfied With Results. Problems Better Interpolation More Automated Questions?