DESIGN AND REALIZATION OF A DYNAMICS CONTROL EXPERIMENT PLATFORM FOR AN ANTHROPOMORPHIC MANIPULATOR

To implement coordinated multi-axis motion control,a programmable motion controller has been developed. The controller has re-definable control structure and supports the simulation software MATLAB. Based on it,a dynamics control experiment platform for a 7-DOF anthropomorphic manipulator has been constructed,and several experiments have been done to illustrate the power of the platform to implement many advanced control algorithms.