EmioLabs_Mimo

Labs for dynamic control of Emio with Multiple-Input Multiple-Output.

Emio is a robotic platform designed for educational purposed by Compliance Robotics. This lab is higly related to the lab with Single-Input Single-Output (SISO) control, which can be found in the EmioLabs_Siso

Installation

An additional python package (control) is required to run the labs. Is it included in the requirements.txt file. To install it, run the following command:

pip install -r requirements.txt

Objectives

The objective of this lab is to control the Emio platform using a Multiple-Input Multiple-Output (MIMO) system. The lab will cover the following topics:

1. Understanding the dynamics of the Emio platform.
2. Model order reduction techniques.
3. Linear system identification.
4. Designing a MIMO controller for the Emio platform.
5. Design state estimation techniques for the MIMO system.
6. Applying the MIMO control structure to the Emio platform.