Title :
The design of a control system testbed for a 2-DOF robot
Author :
Cheng, Frank S. ; Zhao, Lin
Author_Institution :
Central Michigan Univ., Mount Pleasant, MI
Abstract :
The common challenges in the real-time control system design are the control system integration, modeling and analysis, program coding, and real-time data communication. To address the solutions to these challenges, this paper presents the design of a control system testbed for a two degrees of freedom (2-DOF) robot. The design methodology supports the designer to (1) apply the theories of robotics and feedback control systems for feasible robot´s path control solutions, (2) model, simulate and analyze the path control function using Simulink software, and (3) implement the control solution as a real-time PC-based robot control system
Keywords :
control engineering computing; control system synthesis; digital simulation; feedback; industrial manipulators; motion control; position control; real-time systems; 2 DOF robot; Simulink software; control system analysis; control system modeling; control system program coding; control system testbed design; feedback control systems; motion control; path control function; real time PC based robot control system; real time control system design; real time data communication; two degrees of freedom robot; Communication system control; Control system synthesis; Control systems; Data communication; Design methodology; Feedback control; Real time systems; Robot control; System analysis and design; System testing;
Conference_Titel :
Computer Aided Control Systems Design, 2004 IEEE International Symposium on
Conference_Location :
Taipei
Print_ISBN :
0-7803-8636-1
DOI :
10.1109/CACSD.2004.1393876
