Figure 2.3: Simulink model used to command joint-level positions to the 6 DOF Hexapod using QUARC.
The joint commands can be found inside the
Desired Joint Reference \Desired Joint Reference
subsystem block
shown in Figure 2.4. The home reference of 176.5 mm is applied to each joint .
The home reference command are set in the Slider Gain blocks shown in Figure 2.4a. The
Periodic Wave Commands
subsystem, shown in Figure 2.4b, has Slider Gain blocks that are, by default, all initially set to zero. Change their
values in order to apply a sine wave command.
(a) HOME reference command
(b) Sine or square wave position commands
Figure 2.4: Hexapod position commands
Caution: Make sure the Hexapod is at the HOME position before running this experiment!
If the joints
are not at the mid-stroke or center position, then go through the homing procedure in Section 2.2.
Follow these steps to run the controller:
1. Make sure the Hexapod is at the HOME position, as described in Section 2.2.
2. 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.
HEXAPOD Laboratory Guide
8
