1 / 10

FAST PROTOTYPING OF REAL-TIME ROBOT CONTROL USING MATLAB REAL-TIME WORKSHOP

FAST PROTOTYPING OF REAL-TIME ROBOT CONTROL USING MATLAB REAL-TIME WORKSHOP. Michele Bongiovanni * michele.bongiovanni@polito.it Basilio Bona * basilio.bona@polito.it Dipartimento di Automatica e Informatica POLITECNICO DI TORINO H www.polito.it. Experimental Setup. LAN. D&A I/O.

freya
Download Presentation

FAST PROTOTYPING OF REAL-TIME ROBOT CONTROL USING MATLAB REAL-TIME WORKSHOP

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. FAST PROTOTYPING OF REAL-TIME ROBOT CONTROL USING MATLAB REAL-TIME WORKSHOP Michele Bongiovanni * michele.bongiovanni@polito.it Basilio Bona * basilio.bona@polito.it Dipartimento di Automatica e Informatica POLITECNICO DI TORINO H www.polito.it

  2. Experimental Setup LAN D&A I/O FIELD UNIT

  3. HOST PC • x86 • MATLAB/Simulink • RealTime Workshop • Stateflow • Wind River TORNADO • RTI Stethoscope

  4. TARGET PC • x86 • VxWorks kernel • BSP Intel • driver ethernet NE2000 • driver Sensoray • RTI tools daemons

  5. DAQ & ROBOT • Sensoray 626 • 40 dig I/O • 4 DAC • 6 encoder/counter • Robot • 2 DOF • brushless motors (NSK Megatorque®)

  6. SIMULINK MODEL - Events -

  7. SIMULINK MODEL - Controller - • Controller array • Independent joint control approach • PID controllers on each motor • Scalability • Run time reconfigurable controller

  8. SIMULINK MODEL - Impianto - • Simulation • Robot model • Independent joints • Dynamic equations • Friction • I/O ports to and from DAQ • Custom code block to interface DAQ • Identification & hardware in the loop • Parameter based robot model • Robot • Parameter computation

  9. Code architecture • Layered and modular • Customizable at low level GENERIC LAYER APPLICATION SPECIFIC LAYER + RTI Scope Daemons COMMON LAYER VXWORKS LAYER

  10. Sequenza dei task READ SYSTEM INPUTS • Common layer coded • Synchronism @ 1 kHz (max 8 kHz) • DAC max delay: 200 ms per channel • powerful H/W, fast control loops. CALCULATE & WRITE SYSTEM OUTPUTS UPDATE DISCRETE STATES INTEGRATION ALGORITHM INCREMENT TIME

More Related