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1 PRESENTATION
1.1 Description
The Quanser 2 DOF Robot system, pictured in Figure 1.1, is a 2-DOF "pantograph" type robot. The goal, typically,
is to manipulate the X-Y position of a 4-bar linkage end effector. The system is planar and has 2 actuated and 3
unactuated revolute joints. Two servo motors mounted at a fixed distance control two arms coupled via two non-
powered two-link arms. Such a system is similar to the kinematic problems encountered in the control of larger
6-DOF robots including singularities.
Caution: This equipment is designed to be used for educational and research purposes and is not intended
for use by the general public. The user is responsible to ensure that the equipment will be used by
technically qualified personnel only.
1.2 Experiment Overview
As described in Table 1.1, below, the 2 DOF Robot module by itself is supplied with two position control experiments.
However when combined with the 2 DOF Joint, additional experiments can be performed such as 2 DOF Gantry
and 2 DOF Inverted Pendulum.
Experiment Name
Joint Space Control
Work Space Control
Table 1.1: Possible experiments with the 2 DOF Robot and 2 DOF Joint modules.
Figure 1.1: 2 DOF Robot System
Module Option
Description
Needed
2 DOF Robot
Design a joint-level position controller for each
servo using a PID-type compensator.
2 DOF Robot
Design a task-space position controller that
controls the position of the end-effector to a de-
sired point in the Cartesian X-Y plane.
2DROBOT User Manual
4
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