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

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.