Graphical Robot Controller, Device Drivers and Real Time Code Generation

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Graphical Robot Controller,Device Drivers
andReal Time Code Generation

• Harman Bassan
• Dept. of Electrical Comp. Engg.
• University of Western Ontario

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Brief Background
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Graphical Process

• Opal RT
• QNX Operating System
• RT Workshop (Code Generation)
• Watcom compiler
• Multiple target support
• Matlab/Simulink
• VxWorks Operating System
• RT Workshop (Code Generation)
• GCC compiler
• Single target

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Device Drivers
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Graphical Robot Controller
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Real Time Code Generation
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PID Controller (Rigid Part only)
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Simulation for PUMA 560 (with Base)
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Joint Oscillations (Alpha)
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Joint Oscillations (Beta)
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Future Work

• Continuing with model validation
• Implementing inverse dynamics controller