Measurement and Control System for Underactuated Manipulator Based on LabVIEW

Abstract

The paper describes the method which is used to develop measurement and control system for manipulator based on LabVIEW since motion control of servo motors and data acquirement of joints are operating in different programming environment, respectively. The motion control system makes up of two parts: the upper computer for human-computer interface and the lower computer for explanation of program command and analysis and transmission of data. UMAC (Universal Motion and Automation Controller), the lower computer, is programmed to control velocity of servo motors by calling dynamic link library in upper computer. Simultaneously, the real-time data, which includes velocity and position of servo motors and those of joints, can be acquired from UMAC and DAQ and compared with the theory data to achieve the error that can offer some reference for improvement of measuring and controllable precision and mechanism accuracy of manipulator. The experimental result indicates that it is effective and feasible to achieve pickup operation of the five joint manipulator and decrease development threshold of motion control system.