Title :
An interactive environment for simulation and control of flexible manipulator systems
Author :
Azad, A.K.M. ; Tokhi, M.O.
Author_Institution :
Dept. of Technol., Northern Illinois Univ., DeKalb, IL, USA
Abstract :
This paper deals with the development of an interactive and user-friendly environment for simulation and control of flexible manipulator systems. The paper extends the authors´ previous work on a Matlab/Simulink based environment by upgrading this to version 6 of Matlab, incorporating further control approaches and developing a new graphical user interface (GUI) with flexible features. A finite difference simulation algorithm of a flexible manipulator is implemented within the Simulink environment. Open loop and closed loop control strategies of fixed and adaptive types are included. A user-friendly mouse driven GUI is incorporated for inputting physical parameters of the system and visualising the results after each simulation run. The environment can be used as a computer aided teaching facility and as well as a test-bed for evaluation and validation of newly designed controllers for flexible manipulator systems.
Keywords :
closed loop systems; digital simulation; finite difference methods; flexible manipulators; graphical user interfaces; interactive systems; open loop systems; Matlab; Simulink environment; closed loop control strategy; computer aided teaching facility; developed library; finite difference simulation algorithm; graphical user interface; interactive environment; open loop control strategy; simulation and control environment of flexible manipulator systems; user-friendly environment; Adaptive control; Computational modeling; Education; Finite difference methods; Graphical user interfaces; Mice; Open loop systems; Programmable control; System testing; Visualization;
Conference_Titel :
Emerging Technologies and Factory Automation, 2003. Proceedings. ETFA '03. IEEE Conference
Print_ISBN :
0-7803-7937-3
DOI :
10.1109/ETFA.2003.1248743
