基于TUMA I和dSPACE的自运动控制实验

Proceedings of 28th Southeastern Symposium on System Theory Pub Date : 1996-03-31 DOI:10.1109/SSST.1996.493505

D. Silver, E. Barbieri

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引用次数: 1

摘要

本文研究了一个四自由度平面机械臂(TUMA I)的自运动问题，该实验的主要目的是测试TUMA I- dspace设置的有效性和价值。因此，本实验在Simulink中设计了一个简单的比例导数(PD)控制，并利用dSPACE DSP硬件实现。包括实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Self-motion control experiments using TUMA I and dSPACE

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.

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Proceedings of 28th Southeastern Symposium on System Theory

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