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Načrtovanje odprtega robotskega krmilnega sistema
Hedrih, Igor ; Hace, Aleš
In this paper the design of open robot control system is presented. The control system is based on personal computer (PC) technology extended with QNX real-time operation system. Advanced control ...schemes, built in MATLAB /Simulink development environment, are used for the control of DC motors. They consist of PD position controller, disturbance estimator and disturbance observer. Estimator and observer are used for compensation of disturbance. They provide more robust of the system. Coordinated Motion Control (CMC) library, which is adjusted for QNX operation system, is used for interpolator.
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