Hexapod control system and software
Loading...
Date
2017-02-15
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Technical University of Liberec, Departament of Design of Machine Elements and Mechanism, Studentská 2, Liberec 1, Czech Republic
EDP Sciences
EDP Sciences
Abstract
Hexapod is a testing device for generation of six degrees of freedom movement. Its control system is built from the National Instruments components and control application is created in the software LabVIEW. Using the real-time system to run this application requires special programming procedures because the precise timing of the control loop has to be observed. The hexapod motion control is based on its kinematic model. Equations for the six basic motions (3-axis movement and 3-axis rotation) were obtained from the kinematic model. These equations are implemented directly in the control program for basic movement and rotation control. The control system, program design and program optimization are described in this paper. © The Authors, published by EDP Sciences, 2017.
Description
Subject(s)
Citation
ISSN
2261236X