چكيده به لاتين
In this project the design and an implementation of an interface for execution of State-Dependent RICCATI Equation for cooperative arms have been proposed. Additionally, the designed of an interface is conducted on SCOUT Robot though LabVIEW. The mentioned interface is consisted of two units; hardware part and software which have been modified for the purpose of this project. Despite of the limitations and conditions this robot has, which include the type of motor installed and the structure of robot, a systematical approach for developing an online control loop has been anticipated. The designed interface has developed according to the need of appliance of any control loop. Besides, dynamic algorithm for cooperative arms are well proposed and using that, SDRE controller has been advanced for such a system. Using the same interface, experimental test for both single manipulators robots and also cooperative arms have been conducted. In the conclusion the results were compared to simulation data, where errors of the system are deliberated in details and are well-discussed of any dues.
Key Words: State-Dependent Riccati Equation, Interface, Arduino, LabVIEW, Servo Motor
