RCP and RT control of 6-DOF parallel robot

被引：0
|
作者：
Zhang, SY [1 ]
Han, JW [1 ]
Zhao, H [1 ]
机构：
[1] Harbin Inst Technol, Sch Mech Engn, Harbin 150001, Peoples R China
来源：
ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2004年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper based on the rapid control prototype (RCP), real-time(RT) digital control of 6-DOF parallel robot system is developed. For the control of such a complex system, to bridge the LabVIEW and MATLAB/xPC Target can be a shortcut of low cost and high efficiency. Simulink, Real Time Workshop, xPC Target, and C compile are being exploited in the design. In order to realize RCP and RT control of 6-DOF parallel robot system, two computers are needed. One is the host computer and the other is the target one. And some compatible data acquisition boards are required to communicate the software with the hardware controlled. In this environment, parameters such as control laws and inputs, which are running in the MATLAB/Simulink model on the target, can be easily changed real time in the LabVIEW GUI running on the host. Measured data can be both displayed instantaneously and saved for later analysis. This environment makes it easier to experiment with, develop and compare controllers with different control laws. Experimentation shows that this control method is feasible and has a good effect.
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页码：133 / 137
页数：5
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