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

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Presentation transcript:

FAST PROTOTYPING OF REAL- TIME ROBOT CONTROL USING MATLAB REAL-TIME WORKSHOP Michele Bongiovanni Basilio Bona Dipartimento di Automatica e Informatica POLITECNICO DI TORINO

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 2 Experimental Setup FIELD UNIT D&A I/O LAN

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 3 HOST PC x86 MATLAB/Simulink RealTime Workshop Stateflow Wind River TORNADO RTI Stethoscope

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 4 TARGET PC x86 VxWorks kernel BSP Intel driver ethernet NE2000 driver Sensoray RTI tools daemons

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 5 DAQ & ROBOT Sensoray dig I/O 4 DAC 6 encoder/counter Robot 2 DOF brushless motors (NSK Megatorque ® )

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 6 SIMULINK MODEL - Events -

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 7 SIMULINK MODEL - Controller - Controller array Independent joint control approach PID controllers on each motor Scalability Run time reconfigurable controller

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 8 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

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 9 Code architecture Layered and modular Customizable at low level GENERIC LAYER APPLICATION SPECIFIC LAYER COMMON LAYER VXWORKS LAYER + RTI Scope Daemons

Politecnico di Torino - LabRobMichele Bongiovanni ANIPLA, Novembre 2003, Brescia 10 Sequenza dei task Common layer coded 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