DocumentCode
3410420
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
fYear
1996
fDate
31 Mar-2 Apr 1996
Firstpage
232
Lastpage
236
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;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 1996., Proceedings of the Twenty-Eighth Southeastern Symposium on
Conference_Location
Baton Rouge, LA
ISSN
0094-2898
Print_ISBN
0-8186-7352-4
Type
conf
DOI
10.1109/SSST.1996.493505
Filename
493505
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