FAST PROTOTYPING OF REAL- TIME ROBOT CONTROL USING MATLAB REAL-TIME WORKSHOP Michele Bongiovanni...

FAST PROTOTYPING OF REAL-TIME ROBOT CONTROL USING

MATLAB REAL-TIME WORKSHOP

Michele [email protected]

Basilio [email protected]

Dipartimento di Automatica e InformaticaPOLITECNICO DI TORINO

www.polito.it

Politecnico di Torino - LabRobMichele Bongiovanni

ANIPLA, 21-22 Novembre 2003, Brescia 2

Experimental Setup

FIELD UNIT

D&A I/O

LAN



HOST PC

x86MATLAB/Simulink

RealTime Workshop Stateflow

Wind River TORNADORTI Stethoscope



TARGET PC

x86VxWorks kernel

BSP Intel driver ethernet NE2000 driver Sensoray

RTI tools daemons



DAQ & ROBOT

Sensoray 626 40 dig I/O 4 DAC 6 encoder/counter

Robot 2 DOF brushless motors

(NSK Megatorque®)



SIMULINK MODEL - Events -



SIMULINK MODEL - Controller -

Controller array Independent joint control

approach PID controllers on each

motor Scalability Run time reconfigurable

controller



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



Code architecture Layered and modular Customizable at low level

GENERIC LAYER

APPLICATION SPECIFIC

LAYER

COMMON LAYER

VXWORKS LAYER

+RTI

Scope Daemons



Sequenza dei task

Common layer coded Synchronism @ 1 kHz (max 8

kHz) DAC max delay: 200 s per

channel powerful H/W, fast control loops.

READ SYSTEM INPUTS

CALCULATE & WRITE

SYSTEM OUTPUTS

UPDATE DISCRETE STATES

INCREMENT TIME

INTEGRATION ALGORITHM

FAST PROTOTYPING OF REAL- TIME ROBOT CONTROL USING MATLAB REAL-TIME WORKSHOP Michele Bongiovanni...

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