基于xPC Target的机械臂控制系统开发

Development of a Robotic Manipulator Control System Based on the xPC Target

介绍了控制系统的快速控制原型化设计方法以及xPC目标环境,然后基于xPC目标环境和Mathworks公司的Matlab RTW(real-time workshop,实时工作间),Simulink,Stateflow等工具开发了一个机械臂的控制系统。实验结果表明,该软件系统能够很好地控制机械臂抓取目标物体。

In this paper, a rapid control prototyping design method for control system and the xPC Target environment is described. Then, a robotic manipulator control system is development based on the xPC Target environment and Matlab RTW （real-time workshop）, Simulink, Stateflow from mathworks. The experimental results indicate that the software system can control the robotic manipulator perfectly to catch the target objects.