xPC Target an option for position control of robotic manipulators

Author

Pinzón-Ardila, O. ; Angel, L. ; Useche, M.

Author_Institution

Univ. Pontificia Bolivariana, Bucaramanga, Colombia

fYear

2011

fDate

1-4 Oct. 2011

Firstpage

1

Lastpage

6

Abstract

Real time operating systems have been evolving in gigantic steps, allowing, each time to develop applications where some restrictions on task execution time are needed. In this article xPC Target is shown as a new option for control, going through basic concepts of real time to come up with a highly used application in robotics as well as in general industry; which is a speed control for a DC motor. This application links xPC Target as a real time operating system in charge of executing a control task, besides it integrates a based FPGA I/O board which interacts with the controller and outside environment. This is how xPC Target delivers a form of systems optimization, since, rapid prototyping platforms, embedded systems, real time operating systems and also programming algorithms from MatLab and Simulink are integrated.

Keywords

DC motors; field programmable gate arrays; machine control; manipulators; operating systems (computers); position control; rapid prototyping (industrial); DC motor; FPGA I-O board; MatLab; Simulink; embedded systems; position control; rapid prototyping platforms; real time operating systems; robotic manipulators; speed control; xPC target; DC motors; Field programmable gate arrays; Hardware; Operating systems; Real time systems; Velocity control; Simulink; embedded systems; prototyping; real time; xPC Target;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)

Conference_Location

Bogota

Print_ISBN

978-1-4577-1689-8

Type

conf

DOI

10.1109/LARC.2011.6086795

Filename

6086795