Control of a cable robot on PSOC cypress platform
DOI:
https://doi.org/10.32972/dms.2020.003Keywords:
Cable robot, Velocity control of DC motors, Microcontroller, Inverse kinematicsAbstract
This paper deals with the control of a cable model robot. The continuous motion of the end effector is provided by velocity control of four DC motors. In each uniform time step the rotational speed of the motors are predicted based on the assumption of constant path velocity of the end effector in order to move it to prescribed position. In the next time step the rotational speed of the motors are calculated from the difference between the actual position and the target one. This way the discrepancy between the actual position and the prescribed one is corrected step-by-step. The control algorithm is implemented on Cypress Semiconductor CY8CKIT PSoC 5LP microcontroller.
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