A New Approach to Laboratory Motor Control MMCS: The Modular Motor Control System

Abstract

Many projects within the GRASP laboratory involve motion control via electric servo motors, for example robots, hands, camera mounts and tables. To date each project has been based on a unique hardware/software approach. This document discusses the development of a new modular, and host independent, motor control system, MMCS, for laboratory use. The background to the project and the development of the concept is traced. An important hardware component developed is a 2 axis control motor control board that can be plugged into an IBM PC bus or connected via an adaptor to a high performance workstation computer. To eliminate the need for detailed understanding of the hardware components, an abstract controller model is proposed. Software implementing this model has been developed in a device driver for the Unix operating system. However for those who need for wish to program at the hardware level, the manual describes in detail the various custom hardware components of the system.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1989
Accession Number
ADA219356

Entities

People

  • Peter I. Corke

Organizations

  • Moore School of Electrical Engineering

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Application Software
  • Calibration
  • Compensation
  • Compensators
  • Computer Programming
  • Computers
  • Control Systems
  • Device Drivers
  • Environment
  • Feedback
  • Friction
  • Host Computers
  • Information Science
  • Operating Systems
  • Specifications
  • Standards
  • Transfer Functions

Fields of Study

  • Computer science

Readers

  • Computer Science.
  • Robotics and Automation.
  • Software Engineering

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control