Self-motion control experiments using TUMA I and dSPACE

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.