Relocation of the blog

Since we are working with team 14 as a whole team, this blog is now combined with the following blog:
http://me567w11team14.blogspot.com/

Draft of Final Exam Question

In our project, we built a teleoperator using two Novint Falcon Devices and tried to estimate the performance in terms of its transparency and distortion. In order to do that performance evaluation, we modeled each Falcon device as a one-port system, with force input and position output. We measured the input-output relationship in different frequencies and plotted the magnitude response, as shown in the figure below. 

So for a input force 5*sin(2pi*5*t) Newton, what will be the estimated amplitude of the output position?

Today's Progress

After several's days of coding and debugging, both devices are working with the Chai 3D library now! The suggestions by Petr Kadleček is really useful. It seems that the device library used by Chai 3D has some several limitations.

Project Title:
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Picture:

Model, including Jacobian:

Block Diagram:

Control Design:

Implementation Notes:

Results:
(MATLAB plots)

Discussion: