Journal of South China University of Technology (Natural Science Edition) ›› 2008, Vol. 36 ›› Issue (9): 136-139.

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Design Proposal for Robot Servo System Based on MatlabRTW

Jiang Liang-zhong1  Yang Jin2  Yang Zhi1  Zhang Zong-bao1   

  1.  1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China; 2. Department of Mechanical and Electrical Engineering, Guangzhou Institute of Railway Technology, Guangzhou 510430, Guangdong, China
  • Received:2007-09-18 Revised:2008-03-19 Online:2008-09-25 Published:2008-09-25
  • Contact: 蒋梁中（1943-），男，教授，博士生导师，主要从事智能机器人研究. E-mail:jianglzh88@163.com
  • About author:蒋梁中（1943-），男，教授，博士生导师，主要从事智能机器人研究.
  • Supported by:

    广东省科技计划项目（B01-D7041010）;华南理工大学高水平大学建设重点项目

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Abstract:

As the servo system of robot is a multi-variable nonlinear control system, there exist many complex problems in the system development, thus resulting in the difficulty in the development of the robot control system. In order to solve this problem, a design proposal for robot servo system based on MatlabRTW is presented. Then, by taking an explosive disposal robot with 5 degrees of freedom as the object, the framework of the servo system is designed in MatlabRTW environment, and is compiled into a real-time system running on X86 computer through xPC target system. Moreover, with the employment of a set of PID complex controllers, the system becomes expert. Application results demonstrate that, by adopting the proposed scheme, the robot stably runs in a large loading range with good robustness and real-time ability, and that the rapid prototyping of robot servo system is easy to implement.

Key words: servo system, industrial robot, PID controller, MatlabRTW