Control of a laboratory robot using an open DSP-based controller

Abstract

This paper describes the design and implementation of an external DSP-based controller for a laboratory robot. This external controller has an open architecture and is easily programmable, so that it can be used for implementing a wide variety of control schemes on a single device. A simple independent-joint PID control is implemented and experimentally tested, and the results are compared with those obtained with the robot's internal built-in controller, which uses a similar control strategy. To further illustrate the flexibility of the presented external controller, a simple sliding-mode control scheme is also implemented and tested.