Introduction - Quanser 6 DOF Hexapod Laboratory Manual

1 INTRODUCTION

This laboratory manual describes how to use the Quanser 6 DOF Hexapod QUARC controllers. See the 6 DOF
Hexapod User Manual [2] for information about the hardware setup (i.e., connections) and specifications.
Topics Covered
Calibrating the Hexapod on power up.
Moving the upper stage or platform to the HOME position (i.e., where linear actuator are in center or mid-stroke
position).
Running joint-level and world-space position controls on the 6 DOF Hexapod.
Transfer function model of the linear actuator.
PID-based controller used to control position of stage.
Prerequisites
In order to successfully carry out this laboratory, the user should be familiar with the following:
1. See the system requirements in Section 4 for the required hardware and software.
2. Modeling and transfer function representation.
3. PID control design.
4. Basics of S
5. Basics of QUARC
.
, i.e., how to build/run a Simulink model in QUARC.
HEXAPOD Laboratory Guide 4