9
Controlling Gimbal
The third part of the project was to integrate image acquisition system and gimbal controlling
system in to one computer. Until now image acquisition and image processing has been made in
two separate computers. Also, the goal was to be able to do everything from MatLab: Image
acquisition, image processing and robot control. Before, there was a different program for image
acquisition which wrote the image to a file and the picture was then loaded to MatLab. Two
separate computers made the using of the program very complicated.
Controlling the robot
Robot control was done by using Simulink and Quanser Toolbox (WinLib). The Gimbal was
connected to the computer thru Quanser data acquisition and control board MQ8. WinCon
(provided by Quanser) provides the program interfaces between the Simulink generated C-code
with MQ8 board. The WinCon client is installed on the host computer with the MQ8 DACB. The
WinCon server is either installed on the host computer or a remote computer. [2, App. I]
Arrangement in this project
Despite several attempts and for some unknown reason, we were not able to install the frame
grabber board (DT-3153) and the data acquisition board (MQ8) on the same computer. Therefore
we still had to use two separate computers for the project. The other one had the Quanser board
installed and the other one had the frame grabber board installed. However, the goal of only one
computer was basically achieved; now we just had the WinCon client on the other computer and the
WinCon server and the frame grabber board on a “remote” computer. The robot control, the image
acquisition and the image processing is now done in one “remote” computer. The remote
connection between the two computers was implemented with Ethernet. In the future, when it will
be possible to install both boards on one computer, no modifications need to be done. You just do
not need to create the remote connection between WinCon server and WinCon client.
The Simulink models used in this project
To move Gimbal, I modified some Simulink models created by Mohua [2] and LingHong[3]. They
have controlled Gimble in previous projects. To be able to test this system, I basically needed to
move Gimbal and then record the path of the laser with the camera program. Therefore there was no
need to create completely new models for Gimbal in this phase. Some modifications had to be done,
especially to Mohua’s models, because she had used another data acquisition board, Quanser
MULTI-Q3, in her project. The models used in this project are introduced next.
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