Integrated simulation and control of servo-driven end effector

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Title: Integrated simulation and control of servo-driven end effector
Author: LeBlanc, Thomas
Abstract: This paper discusses the development of a Controls Lab Station for the rapid-prototyping of control systems and hardware-in-the-loop simulation. The Controls Lab Station consists of an IBM-compatible PC and the MX3 1 Development System from Integrated Motions, Inc. Functionality is achieved through a mix of standard and custom software packages. The proper use of the system is outlined including the overall design cycle concept. The integration of system components is summarized, and specific control experiments are discussed using a specific plant. The chosen plant is a servo-driven gripper with finger-mounted force sensors, capable of supporting both position and force control. The custom designed gripper interface box and software utilities are discussed. Several "learn-by-example" control experiments for the gripper are explained in detail, and the results presented.
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Date: 1998-10

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