xPC Target an option for position control of robotic manipulators

Innovative Pressure Sensor Platform and Its Integration with an End-User Application

“…The usage of any commercial available RCP system, such as dSPACE® (dSPACE®, Paderborn, Germany), xPC Target® (MathWorks®, Natick, MA, USA) [17], RT-Lab® (Opal-RT®, Montreal, Canada) or NI CompactRio/PXI® (National Instruments®, Austin, TX, USA), that represents the most popular RCP systems for control in automotive, industrial and aeronautic companies require a huge investment that many researchers cannot afford; the RCP solution adopted by the UC3M Robotics Lab is based on a system-on-chip (SOC) embedded system, which consists of a state-of-the-art, 32-bit MCU (STM32F407 and STM32F429 families from ST Microelectronics® manufacturer (STMicroelectronics®, Geneva, Italy) that provides plenty of digital and analog interfaces requiring no external add-on hardware. The SOC RCP-based solution proves itself to be the most competitive prototyping solution for both cost and performance [15,18,19].…”

“…For this purpose, the proposed RCP system requires the installation of additional software into the MATLAB/Simulink® Library browser; this software addition consist of two custom developed block sets, requiring no additional commercial software, like Embedder Coder® [15,18] or xPC Target® [17]. The first block set works as the base software; it is provided by a third party company called Aimagin Ltd. (Aimagin®, Bangkok, Thailand) and is free, covering many I/O peripherals.…”