Joint-Level Position Control - Quanser 6 DOF Hexapod Laboratory Manual

Figure 2.2: Simulink model used to home the Hexapod using QUARC.
Follow these steps to home the system:
1. 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.
2. Make sure you have calibrated the Hexapod first, as described in Section 2.1.
3. Open the Simulink model called Hexapod_Home.mdl, shown in Figure 2.2.
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. The upper stage should move to the HOME position
when are all the linear actuator are in the mid-stroke or center position.
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.
7. The controller stops automatically when the HOME position is reached.

2.3 JOINT-LEVEL POSITION CONTROL

This Hexapod_Joint_Control.mdlcontroller shown in Figure 2.3 applies position commands to the base-level linear
actuators. The user can specify the amplitude and frequency of the sine wave on-the-fly and read corresponding
position measurements.
HEXAPOD Laboratory Guide
v 1.3