A Flexible Real-time Motor Control System for Robot Joints
نویسندگان
چکیده
-A flexible, real-time motor control system consisting of a DC motor and an incremental optical encoder is proposed. The system allows complex real-time control algorithms to be implemented with hardware control excepting PC-based software simulation. A motion control processor is used to bridge the Target PC and the robot joint through I/O devices. Simulink/Real Time Workshop (RTW) are the software interface loaded in the Workstation PC which generates the control codes and stand-alone program for various control algorithms. Figure1. The interactive design-prototype-test development process for the robot joint control. Design, prototype the model graphically in Matlab/Simulink
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تاریخ انتشار 2000