dSPACE快速控制原型在机器人控制中的应用

dSPACE RAPID CONTROL PROTOTYPING AND IT’S APPLICATION IN ROBOT CONTROL

摘要: 本文介绍了dSPACE实时系统以及基于dSPACE的快速控制原型设计方法．利用dSPACE系统构造了四自由度机器人快速控制原型并进行了轨迹跟踪方面的实验研究．实验结果证明了本文系统及方法的有效性．

Abstract: This paper presents the dSPACE real-time system and the design strategy on rapid control prototyping based on the dSPACE system. With the dSPACE system, a rapid control prototyping is designed for a manipulator which has four degrees of freedom. Experimental researches on trajectory tracking control are given which show the effectiveness of the system and the method.