Control algorithm fights gravity!
The cart is controlled by a feedback control law to suppress the natural chaotic movement of a triple pendulum.
- Controlled by the REX Advanced Industrial Computer
- RexCore running at 1 KHz sample rate (REX Control System runtime)
- EtherCAT communication with the servo drive (cart)
- Wireless transmission of data from arms' rotation sensors (700 microseconds period)
- FPGA for processing data from wireless transciever