A FLEXIBLE REAL-TIME MOTOR CONTROL SYSTEM FOR ROBOT JOINTS

摘要

A flexible, real-time motor control system consisting of a DC motor and anrnincremental optical encoder is proposed. The system allows complex real-time controlrnalgorithms to be implemented with hardware control excepting PC-based softwarernsimulation. A motion control processor is used to bridge the Target PC and the robot jointrnthrough I/O devices. Simulink/Real Time Workshop (RTW) are the software interfacernloaded in the Workstation PC which generates the control codes and stand-alone programrnfor various control algorithms.