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Proceedings Paper

Open architecture robot control based on Matlab/Simulink and a dSPACE real time system
Author(s): Kerstin Heuer; Gero Pokar; Juergen Hesselbach
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Paper Abstract

The elements of an open architecture robot control system developed using Matlab/Simulink and a real time system are described. It offers the opportunity to control almost every robotic system (serial or parallel) with up to six axes while commercial robot controls are often designed for serial kinematic systems and can hardly be adapted to control robots with parallel structures. The described open architecture robot control programmed in Matlab/Simulink and ANSI-C is a modular system. To adapt the control to a new robotic structure it is necessary to add the transformation algorithms, position control algorithms, inputs and outputs and machine specific error states to the pre-programmed modules of the system. These modules are programmed by using Simulink elements extended by special functions of the real time system and so called S-Functions that are programmed in C-Code. In the control new functionalities can be implemented easily by adding new modules and connecting them with the present system. A pre-designed graphical user interface provides most of the input buttons and display information needed for a robot control. Graphical buttons or displays can be added and connected with the required signal from Matlab/Simulink by drag and drop. An application example of a parallel robot shows the functionalities of the control.

Paper Details

Date Published: 4 March 2004
PDF: 9 pages
Proc. SPIE 5263, Intelligent Manufacturing, (4 March 2004); doi: 10.1117/12.514696
Show Author Affiliations
Kerstin Heuer, Technische Univ. Carolo-Wilhelmina zu Braunschweig (Germany)
Gero Pokar, Technische Univ. Carolo-Wilhelmina zu Braunschweig (Germany)
Juergen Hesselbach, Technische Univ. Carolo-Wilhelmina zu Braunschweig (Germany)

Published in SPIE Proceedings Vol. 5263:
Intelligent Manufacturing
Bhaskaran Gopalakrishnan; Peter E. Orban; Angappa Gunasekaran, Editor(s)

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