Hexapod Control System Optimization

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Hexapod Control System Optimization

Popis výsledku v původním jazyce

Hexapod is a new testing device for generation of six degrees of freedom movement in the Laboratory of applied mechanics. Its control system is built from 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. This model calculates the engine control signals according to the input required by motion control. Equations for the six basic motions (3-axis movement and 3-axis rotation) were obtained from the kinematic model, too. 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.

Název v anglickém jazyce

Hexapod Control System Optimization

Popis výsledku anglicky

Hexapod is a new testing device for generation of six degrees of freedom movement in the Laboratory of applied mechanics. Its control system is built from 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. This model calculates the engine control signals according to the input required by motion control. Equations for the six basic motions (3-axis movement and 3-axis rotation) were obtained from the kinematic model, too. 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.

Druh

D - Stať ve sborníku

CEP obor

JQ - Strojní zařízení a nástroje

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

55th Internaationa Conference of Machine Design Departments

ISBN

978-80-01-05542-7

ISSN

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e-ISSN

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Počet stran výsledku

4

Strana od-do

393-396

Název nakladatele

ČVUT Praha

Místo vydání

Praha

Místo konání akce

Beroun

Datum konání akce

1. 1. 2014

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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