Task-space control loop for a circular trajectory.

Manipulator Control

This is lab 6 of 12 in the course

by Quanser Inc.

In this lab, students use kinematic equations and PID to control a robot arm to follow trajectories. Students use LabVIEW experiment with gains to limit task-space error. The lab includes background information regarding manipulator control and in-lab exercises. Required: Must complete previous labs before starting this lab.

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Details

STUDENT MATERIALS

PDF Lab
LabVIEW code

INSTRUCTOR RESOURCES

PDF Lab Key
Completed LabVIEW code

SKILLS REQUIRED

Basic LabVIEW familiarity recommended
Matrix level mathematics

Requirements

NI ELVIS II/II+

The NI Educational Laboratory Virtual Instrumentation Suite (NI ELVIS) is a versatile laboratory platform that enables educators to teach over 20 different courses across science and engineering departments. The NI ELVIS integrates 12 common lab instruments including an oscilloscope, function... Learn more

LabVIEW

LabVIEW is systems engineering software for applications that require test, measurement, and control with rapid access to hardware and data insights. Learn more

Quanser QNET Mechatronic Systems Board

The Quanser QNET Mechatronic Systems Add-On Board is NI's most comprehensive solution to teaching mechatronics. This board includes a four-bar linkage system, DC motors, encoders, and a camera for system-level lab challenges on tasks such as vision, image processing, and low-level signal aspects... Learn more

NI ELVIS RIO Control Module

The NI ELVIS RIO Control Module connects to the NI Educational Laboratory Virtual Instrumentation Suite (NI ELVIS) to give students access to the accurate timing and control of FPGA-based, reconfigurable I/O. Students can build mechatronic and power electronic systems while troubleshooting and... Learn more

DETAILED REQUIREMENTS

Required Software

Learn About Software Licensing

ELVIS RIO Control Software Bundle (2016 or later) Download Here
- LabVIEW (Requires license)
- LabVIEW Real-Time Module (Requires license)
- LabVIEW FPGA Module (Requires license)
- LabVIEW Control Design and Simulation Module (Requires license)
- LabVIEW Vision Acquisition Software (Requires license)
- LabVIEW Vision Development Module (Requires license)
- LabVIEW ELVIS RIO Control Module Toolkit
NI ELVISmx Driver 16.0 or higher Download here

Required Hardware

Purchase Engineering Education Products

NI ELVIS II or II+
NI ELVIS RIO Control Module
Quanser QNET Mechatronic Systems Add-On Board

Resources

INSTRUCTOR RESOURCES

Instructor resources are available. Get access

Related Resources

PREPARE

These labs prepare students with prerequisite skills.

Inverse Kinematics

PID Position Control

Forward Kinematics