Quanser 6 DOF Hexapod, Laboratory Manual

Page: 3 / 33

Contents
1 Introduction 4
2 Running the 6 DOF Hexapod 5
2.1 Calibration 5
2.2 Homing 6
2.3 Joint-Level Position Control 7
2.4 World-Space Position Control 9
2.5 Brake Bypass 12
2.6 Earthquake 13
2.7 FFT Analysis 15
2.8 Hexapod Controllers 16
3 Background 23
3.1 Modeling 23
3.2 Position Controller Design 23
3.3 Downloading New Earthquakes 24
4 System Requirements 26
4.1 Overview of Files 27
4.2 Setup script: setup_hexapod.m 28
4.3 Creating an Earthquake: make_quake_xyz.m 30
HEXAPOD Laboratory Guide
v 1.3