Combining control design tools: from modelling to implementation
2001 (English)In: International Conference on Robotics and AutomationArticle in journal (Refereed) Published
Good tools are needed in order to develop roboticsystems efficicntly. Today, in addition to CAD/CAM,there are tools for model derivation, control design andimplemcntation. There are also tools for exporting modelsto a control design environment, as well as from controldesign to implementation (rapid prototyping tools). It ishowever, still difficult to combine these tools, especiallywhen working with large systems (i.e. a lot of signalsand parameters). We have therefore combined, interfacedand augmented some of these tools into a method thatbridges the gaps between automatic model derivation andcontrol implementation. Analytically derived functions(from Maple) are used for control design, simulation,visualization, evaluation (MATLAB) and implementation(Real-Time Workshop and xPC Target). The method andtools are illustrated by application to a four-legged robot inboth simulation and reality. Generality is also examplifiedby applying the method to a simulated SCARA robot.
Place, publisher, year, edition, pages
Other Materials Engineering
IdentifiersURN: urn:nbn:se:kth:diva-9027DOI: 10.1109/ROBOT.2001.932794OAI: oai:DiVA.org:kth-9027DiVA: diva2:14566
QC 201008312006-01-262006-01-262010-08-31Bibliographically approved