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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

Wow that's impressive!

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