Experiments


This section presents a list of links to the web pages of the systems available for the remote experimentation.

Some of them are only virtual systems, and the user can just make virtual experiments. For all the other systems it is generally possible to make either virtual or real experiments.

Both the virtual and the real experiments need the user downloads a Java Applet.

A virtual experiment goes with an animated three-dimentional scene realized in OpenGL. To view the virtual animation the user should have installed a recent version of the Java Virtual Machine, and the OpenGL libraries for Java (click here for more details on the requirements).
With a virtual experiment, the user may simulate the effect of a specific control law applied to the system. It is possible to choose the experiment, and for every experiment it is generally possible to choose the value of a set of control parameters. During the simulation, the Java Applet plots some state variables to allow the user to understand the system evolution.

The real experiment allows to observe what actually happens to the physical system under the action of some control laws. The user can monitor the proceeding of the experiment by the images of a webcam. At the end of the experiment, the user can download both a digital video (in MPEG format) and a set of files (availables in the formats .mat, .txt and .zip) concerning some variables monitored during the experiment (like the link velocities, the motor current, etc.).

For more information about the usage of the Java Applets see the User manual.


IMPORTANT NOTE: read the system requirements needed to execute the experiments on REAL Lab!


To reserve the use of a REAL-Lab robot, first login then click here

 

Pendubot

The Pendubot is a planar under-actuated robot with two rotational joints. It is possible to execute both virtual and real experiments. The control goal is to stabilize the robot with the non-actuated link (the bottom link in the figure) in the vertical position.

Acrobot

This system, is similiar to the Pendubot, unless the motor, which is connected to the joint between the two links (the red bullet in the figure). The control problems are the same of the Pendubot, with the additional difficulty caused by the new position of the motor.
This system is available for virtual experiments only.

Sisifo

The system is composed by a carriage on a ramp. The ramp has a slope of 15 degrees. The problem is to find a control law that allows the carriage to reach the edge of the ramp without falling down. This system is available for virtual experiments only.

Khepera

Khepera is a wheeled mobile robot with two independent active wheels. Its cinematic model can be rewritten as unicycle's model. The objective of the experiments is to find a control law for trajectory tracking. This system is available for virtual experiments only.

Robot 3R

Robot 3R is a full actuated robot manipulator with three rotational joints. The control objective is to stabilize the robot in a fixed configuration. The starting and final positions may be specified by the user. Currently four different controllers are available for virtual experiments only.


| Pendubot | Acrobot | Sisifo | Khepera | Robot 3R |