MATEC Web Conf.
Volume 89, 2017Laboratory Methods
|Number of page(s)||4|
|Published online||09 December 2016|
Hexapod control system and software
Technical University of Liberec, Departament of Design of Machine Elements & Mechanism, Studentská 2, 461 17 Liberec 1, Czech Rep.
Hexapod is a testing device for generation of six degrees of freedom movement. Its control system is built from the National Instruments components and control application is created in the software LabVIEW. Using the real-time system to run this application requires special programming procedures because the precise timing of the control loop has to be observed. The hexapod motion control is based on its kinematic model. Equations for the six basic motions (3-axis movement and 3-axis rotation) were obtained from the kinematic model. These equations are implemented directly in the control program for basic movement and rotation control. The control system, program design and program optimization are described in this paper.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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