Overview Of Files - Quanser 6 DOF Hexapod Laboratory Manual

4.1 OVERVIEW OF FILES

File Name
Hexapod User Manual.pdf
Hexapod Laboratory Guide.pdf
setup_hexapod.m
Hexapod_Brake_Bypass.mdl
Hexapod_Calibrate.mdl
Hexapod_Home.mdl
Hexapod_Joint_Control.mdl
Hexapod_World_Control.mdl
File Name
q_scale.p
construct_quake_trajectory.m
init_earthquake_data.m
NGA_no_1105_HIK000.AT2
NGA_no_1105_HIK090.AT2
NGA_no_1105_HIK-UP.AT2
NGA_no_1086_SYL090.AT2
NGA_no_1086_SYL360.AT2
NGA_no_1086_SYL-UP.AT2
NGA_no_180_H-E05140.AT2
NGA_no_180_H-E05230.AT2
NGA_no_180_H-E05-UP.AT2
NGA_no_825_CPM000.AT2
NGA_no_825_CPM090.AT2
NGA_no_825_CPM-UP.AT2
HEXAPOD Laboratory Guide
Description
This manual describes the hardware of the Hexapod system and
explains how to setup and wire the system for the experiments.
This document demonstrates how to run the QUARC controllers,
gives some background on the PID-based control design, and de-
scribes the Simulink diagrams supplied.
The main Matlab script that sets the Hexapod motor, sensor, and
configuration-dependent parameters. Run this file only to setup
the laboratory.
Disengages the brake system and enables the amplifier to allow
the joints to be moved manually.
Moves each joint to the limit switch and resets the encoders. Run
calibration EVERY TIME the Hexapod is powered ON.
Moves each of the joints to the mid-stroke position.
this AFTER calibration and BEFORE any of the position-
based controllers (e.g., Hexapod_Joint_Control.mdlor Hexa-
pod_World_Control.mdl).
Controls the position of the linear actuator joints at the base of the
Hexapod system. User can change the amplitude and frequency
of the sine wave position command.
Controls the X, Y, and Z positions as well as the Roll, Pitch, and
Yaw angles of the Hexapod top stage or end-effector. User can
select between applying a sine or square wave for each axis and
vary the amplitude and frequency of each.
Table 4.1: Files supplied with the 6 DOF Hexapod
Description
Produces a scaled position trajectory given desired acceleration data.
When ran on the Hexapod, the measured acceleration matches the
given desired acceleration.
Constructs a time-based array from a matrix of data and the sampling
time.
Re-formats raw earthquake data file.
Sample Kobe earthquake acceleration data file (direction 000).
Sample Kobe earthquake acceleration data file (direction 090).
Sample Kobe earthquake acceleration data file (direction UP).
Sample Northridge earthquake acceleration data file (direction 090).
Sample Northridge earthquake acceleration data file (direction 360).
Sample Northridge earthquake acceleration data file (direction UP).
Sample El-Centro earthquake acceleration data file (direction 140).
Sample El-Centro earthquake acceleration data file (direction 230).
Sample El-Centro earthquake acceleration data file (direction UP).
Sample Mendocino earthquake acceleration data file (direction 000).
Sample Mendocino earthquake acceleration data file (direction 090).
Sample Mendocino earthquake acceleration data file (direction UP).
Table 4.2: Additional files supplied with the 6 DOF Hexapod
Run
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