Title :
Self-motion control experiments using TUMA I and dSPACE
Author :
Silver, David ; Barbieri, Enrique
Author_Institution :
Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA
fDate :
31 Mar-2 Apr 1996
Abstract :
This paper considers the self-motion problem on a four degree of freedom planar manipulator, (TUMA I). A major goal of this experiment was to test the effectiveness and value of the TUMA I-dSPACE setup. Thus, for this experiment a simple proportional derivative (PD) control was designed in Simulink and implemented with dSPACE DSP hardware. Experimental results are included
Keywords :
control system CAD; digital signal processing chips; manipulator kinematics; motion control; two-term control; PD control; TUMA I; dSPACE; dSPACE DSP hardware; four degree of freedom planar manipulator; proportional derivative control; self-motion control experiments; Automatic testing; DC motors; Digital signal processing; Gears; Hardware; Manipulators; PD control; Proportional control; Robots; Silver;
Conference_Titel :
System Theory, 1996., Proceedings of the Twenty-Eighth Southeastern Symposium on
Conference_Location :
Baton Rouge, LA
Print_ISBN :
0-8186-7352-4
DOI :
10.1109/SSST.1996.493505
