Archived: Flexible Joint Control Design Case Study

Publish Date: Apr 16, 2018 | 3 Ratings | 3.67 out of 5 | Print | Submit your review

Overview

This document has been archived and is no longer updated by National Instruments.

This case study shows the use of State-Feedback Controller to move a flexible joint from one setpoint to another. The springs simulate a joint that has flexible elements in the arm. During the design process, you can change the weights in the LQR matrices to penalize the states and generate the desired dynamic response for the system.

You must have the LabVIEW Development System and the LabVIEW Control Design Toolkit installed to run this example. However, with only these two applications, this example has limited functionality. For full functionality, you must have the LabVIEW Simulation Module and the LabVIEW 3D Picture Control Evaluation Software installed.

The LabVIEW 3D Picture Control Evaluation Software is available for download via the link below.

Note: LabVIEW 8.2 introduces the 3D Picture Control feature. The LabVIEW 3D Picture Control Evaluation Software is not compatible with the 3D Picture Control in LabVIEW 8.2 and later, and VIs created using the evaluation software will not work with the LabVIEW 3D Picture Control.

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CDEx_Flexible_Joint.llb

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