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1、PCBASEDCONTROLOFROBOTICANDMECHATRONICSYSTEMSUNDERMS-WINDOWSNTWORKSTATION12Chunhao“Joseph”Lee,andConstantinosMavroidisRoboticsandMechatronicsLaboratoryDepartmentofMechanicalandAerospaceEngineeringRutgersUniversity,TheStateUniversityofNewJersey98BrettRd.,Piscataway,NJ0885
2、4-8058TEL:732-445-0732,FAX:732-445–3124EMAIL:mavro@jove.rutgers.edu,WEBPAGE:http://cronos.rutgers.edu/~mavroABSTRACT®Inthispaper,amethodisproposedtoperformcontrolusingINTELbasedPersonalCom-™putersoperatedbyWindowsNTdirectly.ThesoftwarepackagethatwasdevelopediscalledWinR
3、ecv.1(WindowsReal-timeControl).ThislowcostmethodkeepsalltheadvantagesofWin-dowsNTwithoutattachinganyotherkernelsandavoidsswitchingdifferentoperatingsystemsbetweenexperimentationandcontroldesign/analysis.AthoroughdescriptionofthemethodtosetupthemultimediatimerprovidedbyM
4、icrosoftDevelopmentNetwork(MSDN)Libraryispre-sented.Self-customizedalgorithmsbasedonadvancedcontroltechniquescanbeimplementedwiththestandardprotocolthatisestablishedhere.Theproposedprotocolisevaluatedusingtwodifferentsystemsincontrolexperiments.Inthefirst,anindustrialro
5、botmanipulatoriscontrolledbyapplyinganindependentjointPIDcontrolscheme.ResultsarealsoshownfromexperimentswhereLQRandH2controllersareappliedtosuppressvibrationsofaflexiblepayloadcarriedbytherobotmanipulator.Inthesecondsystem,position,force,temperature,voltageandcurrentda
6、taaresimultaneouslyrecordedinordertoevaluatetheperformanceofaShape-Memory-Alloy(SMA)wirebundleactuatorinopenloopcontrolexperiments.INDEXTERMS:PCBasedControl,Robotics,DigitalControl.1GraduateStudent,ASMEandIEEEStudentMember.Currently,SeniorResearchEngineeratGeneralMotors
7、,MI.2AssistantProfessor,ASMEandIEEEMember,AuthorforCorrespondence.11INTRODUCTIONRoboticandmechatronicsystemsarecomposedofmanytypesofactuators,suchaselectri-cal,pneumatic,hydraulic,orpiezo-electricmotors,andofdifferenttypesofsensors,suchasdigitalencoders,potentiometers,t
8、achometers,accelerometers,forcesensors,orstraingauges.Controlofroboticandmechatronicsystemsrequiresreadingdata
