The DSP Implementation of RT Control of 6-DOF Parallel Robot Based on RCP
As the testing facility used in fields such as, ship craft and aviation, 6-DOF parallel robot should possess good performance of dynamics, precision of poses and high reliability. For this purpose, a large amount of codes of controlling strategy, error protection and friendly GUI must be written. In this paper, we develop host-target DSP system based on rapid control prototyping through the combination of LabVIEW and Matlab. Instead of writing large numbers of low-level codes, controlling strategy and error protection codes can be produced by Simulink block diagram for 6-DOF parallel robot. GUI program is done by the use of LabVIEW. The experiments indicate that the development efficiency of the system is dramatically boosted and the implementation of control system is feasible and has a good effect.
rapid control prototyping 6-DOF parallel robot Real-Time Workshop Embedded Target for TI C2000 DSP
Yong Zhao Dacheng Cong Junwei Han
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）