Many existing senior integrated systems labs typically focus on control of single-input/single-output processes that are no longer representative of modern multivariable processes in manufacturing, robotics, and aerospace applications. By performing practical control/robotic experiments which utilize floating point processors, the student engineer can obtain the training for coping with multi-input/multi-output systems such as a two-link robot manipulator or an inverted pendulum. To simplify the use of floating point processors, the Robotics and Machine Automation Laboratory (RAMAL) Development group at the Clemson University Center for Advanced Manufacturing (CAM) has developed a WINDOWS MATLAB software interface which allows the user to program control algorithms for a high speed, floating point processor (i.e. the TYS320C30) in a straightforward manner.In this project, an Undergraduate Integrated Systems Laboratory (USIL) is developed in which seniors perform a sequence of laboratory experiments involving mechanical design, power amplification design, control design, and computer interface design. After the initial set of experiments, the students are required to integrate these various subsystem designs for experiments such as the inverted pendulum and a two-link robot manipulator. This project promulgates the transfer of the WINDOWS MATLAB software into the undergraduate curriculum through the use of six C30 workstations and the necessary supporting hardware.
