Quanser 2 DOF Planar Robot User Manual page 5

1.2.3 Open Loop IO Checkout
File Name: planar2dof_iocheck.mdl
In this model all of the IO used in a robot controller is tested. This model can be used to verify that all of the
components are working and that the system has been wired correctly.
1.2.4 Closed Loop Joint Controller with Forward Kinematics
File Name: planar2dof_joint_control.mdl
In this model 2 independent PD joint controllers have been implemented. The controller gains can be tuned using
the slider gains to improve the performance.
1.2.5 Closed Loop Cartesian Controller with Forward and In-
verse Kinematics
File Name: planar2dof_kinematic.mdl
In this model both the forward and inverse position kinematics have been implemented. The user can command the
end effector to move in Cartesian space. The kinematics have been defined based on the definitions in Figure 1.2.
Figure 1.2: 2 DOF Planar Robot Kinematic Definitions
DRAFT - September 6, 2013
2 DOF PLANAR ROBOT User Manual