In 1995, Square D Company, Clemson, South Carolina, donated a $100,000 equipment grant over a two year period to fund the creation of a motion control laboratory which has come to be known as Square D lab and is situated on the second floor of the Fluor Daniel Engineering Innovation Building. The purpose of this lab is to have interdisciplinary (Mechanical and Electrical Engineering) research teams for developing new and innovative methods of motion control.
The Elephant's Trunk belongs to a class of robotic manipulators known as hyper-redunant, or more specifically High-Degree-of-Freedom (HDOF) robots. The Trunk consists of a 32 DOF backbone, using 16 short links of 2 DOF each. The backbone is reminiscent of a vertebrate backbone, with the maneuverability of a snake backbone. The Trunk is divided into four sections. The pitch and yaw orientations at the end of each section are controllable via cables attached to actuators at the base of the trunk. This gives the Trunk 8 controllable degrees of freedom. The remaining DOFs contribute to the trunk's "inherent compliance". In other words, while the actuators control the Trunk orientation at a few various locations, there are an infinite number of allowable configurations corresponding to any given actuator input. Thus, the trunk "complies" with its environment in a minimum energy fashion. Research with the trunk focuses on inverse kinematics algorithms, path planning and mechanical design issues.
The 3DCrane is a laboratory model for an industrial crane. It is
a non-linear electromechanical system having complex dynamic
behavior . The control of the crane in various modes is achieved
under Linux using Matlab/Simulink and RTLT software developed by Quality Real Time Systems. The crane
is equipped with high resolution encoders for 2D angle measurement.
The RTLT helps in supporting multiple hardware interface boards
like Servotogo and MultiQ. Current research is being done on
implementing non-linear controllers to control the crane in three