Abstract

This paper discusses the development of a Controls Lab Station for the rapid-prototyping of control systems and hardware-in-the-loop simulation. The Controls Lab Station consists of an IBM-compatible PC and the MX3 1 Development System from Integrated Motions, Inc. Functionality is achieved through a mix of standard and custom software packages. The proper use of the system is outlined including the overall design cycle concept. The integration of system components is summarized, and specific control experiments are discussed using a specific plant. The chosen plant is a servo-driven gripper with finger-mounted force sensors, capable of supporting both position and force control. The custom designed gripper interface box and software utilities are discussed. Several "learn-by-example" control experiments for the gripper are explained in detail, and the results presented.

Library of Congress Subject Headings

Robots--Control systems; Manipulators (Mechanism); Systems engineering

Publication Date

10-1-1998

Document Type

Thesis

Department, Program, or Center

Mechanical Engineering (KGCOE)

Advisor

Hennessey, Michael

Advisor/Committee Member

Walter, Wayne

Advisor/Committee Member

Kempski, Mark

Comments

Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TJ211.35 .L43 1998

Campus

RIT – Main Campus

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