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Caution: Make sure the Hexapod is at the HOME position before running this experiment! If the joints
are not at the mid-stroke or center position, then go through the homing procedure in Section 2.2.
Follow these steps to run the controller:
1. Make sure you have home the Hexapod first, as described in Section 2.2.
2. Make sure the red button is in the upper position to enable the amplier. The amplier cannot be enabled when
the button is in the lower position. Twist the button to ensure it is in the enabled position.
3. Open the Simulink model called Hexapod_World_Control.mdl, shown in Figure 2.5.
4. Run setup_hexapod.m in MATLAB (note: script is ran automatically when Simulink model is ran).
5. Click on QUARC | Build to generate the controller.
6. Run the QUARC controller by going to QUARC | Start.
7. Change the values of the Slider Gain blocks in the Desired Position Reference block, shown in Figure 2.6
subsystem, gradually to begin commanding a position command to the top stage.
Caution: PRESS DOWN on the RED BUTTON of the E-Stop switch to stop the Hexapod. This
deactivates the amplifier and cuts off the DC motor power.
8. Open the World Position Tracking scopes in the Performance Tracking subsystem to examine the position
response of the Hexapod end-effector. The yellow trace is the measured world coordinate position and the
purple plot is the desired position. To change which axes is being displayed, set the Position Index block
between 1 and 6 accordingly. See Section 2.8.5 for more information.
9. Before stopping the controller, it is recommended to set the sine/square wave amplitudes back to 0 to HOME
the Hexapod so it is ready for the next experimental run.
HEXAPOD Laboratory Guide
Figure 2.6: Hexapod world coordinate position commands
v 1.3
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