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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.

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

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  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

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