abstract
- This paper presents a project-based learning (PBL) approach to teaching advanced control concepts through the design and implementation of compliance-based controllers on a two-degree-of-freedom robotic platform. The platform incorporates three different compliance-based control modes: impedance, admittance, and a Maxwell-based impedance model. Unlike existing educational approaches that rely primarily on PID control, simulation-only exercises or one-degree-of-freedom haptic paddle, this work provides a more realistic, fully replicable hardware system that allows learners to feel, quantify, and compare the effects of three different compliance strategies in real time. Students are offered practical experience in mechatronics physical integration, SimulinkTM programming, parameter tuning and torque and error analysis for compliance control.