Title :
Rapid control prototyping using matlab and dSpace. application for a planar parallel robot
Author :
C. Lapusan;V. Matis;R. Balan;O. Hancu;S. Stan;R. Lates
Author_Institution :
Dept. of Mechatronics, Technical University of Cluj-Napoca, Romania
Abstract :
The paper presents an approach for developing and testing the control system for a parallel structure using rapid control prototyping (RCP). The control algorithm is developed and simulated using Simulink, the implementation of the algorithms is made using the Matlab toolbox Real Time Workshop and the DS1104 board from dSpace. The method is applied for a plan parallel robot with three degrees of freedom also known as 3-RRR Parallel Robot.
Keywords :
"Mathematical model","Robots","Solid modeling","Parallel robots","Robot kinematics","Kinematics","Joints"
Conference_Titel :
Automation, Quality and Testing, Robotics, 2008. AQTR 2008. IEEE International Conference on
Print_ISBN :
978-1-4244-2576-1
DOI :
10.1109/AQTR.2008.4588855
