xPC Target an option for position control of robotic manipulators

Abstract

Real time operating systems have been evolving in gigantic steps, allowing, each time to develop applications where some restrictions on task execution time are needed. In this article xPC Target is shown as a new option for control, going through basic concepts of real time to come up with a highly used application in robotics as well as in general industry; which is a speed control for a DC motor. This application links xPC Target as a real time operating system in charge of executing a control task, besides it integrates a based FPGA I/O board which interacts with the controller and outside environment. This is how xPC Target delivers a form of systems optimization, since, rapid prototyping platforms, embedded systems, real time operating systems and also programming algorithms from MatLab and Simulink are integrated.