CAD and Implementation of Digital Controllers for the Fast TUD-Hydraulic Test Robot Manipulators

Abstract A very fast digital control system implemented with a AT&T signalprocessor DSP32 which has been developed to the fast TUD-hydraulic test robot manipulator installed in the hydraulic laboratory at the Control Engineering Institute, the Technical University of Denmark (TUD) is presented. Results and experiences with CAD/CAE-based tools for design and implementation of digital controller algorithms for hydraulic robot manipulators and other multiaxes hydraulic machines are presented and discussed. Furthermore, a new design concept applying the AT&T-signal processor DSP32C is discussed. Finally, the paper describes and discusses the simulation results with an adaptive perturbation control scheme and the obtained experimental results with a digital PID controller.