Open dSpace hardware for RV-M1 robot control

Abstract

Open hardware construction and test to implementing control strategies in the serial manipulator Mitsubishi RV-M1 is presented. The power stage is comprised of five LOGOSOL LS-5Y servo-amplifiers cards in continuous current mode. The signal circuit box contains an opto-coupler circuit for deactivating joint brakes; they are normally closed type. Experimental verification was made by comparing PD and gravity-compensation PD control strategies. A dSpace 1103 card let creating a program in C language from the Simulink models simulation stage. The generated C code eases the creation of a project in the ControlDesk graphical environment. The robot is modeled as a DAC (Digital-Analog Channel) that communicates with the controller through the built hardware. This contribution will allow future implementation of basic and advanced control strategies in one of the most used robots in Academy.