Open architecture robot control based on Matlab/Simulink and a dSPACE real time system

Kerstin Heuer; Gero Pokar; Juergen Hesselbach

doi:10.1117/12.514696

4 March 2004 Open architecture robot control based on Matlab/Simulink and a dSPACE real time system

Kerstin Heuer, Gero Pokar, Juergen Hesselbach

Proceedings Volume 5263, Intelligent Manufacturing; (2004) https://doi.org/10.1117/12.514696
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

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.

Citation Download Citation

Kerstin Heuer, Gero Pokar, and Juergen Hesselbach "Open architecture robot control based on Matlab/Simulink and a dSPACE real time system", Proc. SPIE 5263, Intelligent Manufacturing, (4 March 2004); https://doi.org/10.1117/12.514696

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available