Implementation of compliant actuator software system based on LabWindows/CVI

WEI Dun-wen，GE Wen-jie，ZHAO Dong-lai，ZHANG Wen-lei，LIU Bo

（School of Mechatronics Engineering，Northwestern Polytechnical University，Xi'an 710072，China）

Abstract：Aiming at real-time monitoring and controlling of the compliant actuator physical test device，a compliant actuator control system software that integrates system configuration，option of controller model，command control，real-time monitor，data display and saving were proposed and designed based on LabWindows/CVI software platform. By using cyclic redundancy check（CRC），the bidirectional communication protocol with DSP controller was designed to improve the system reliability. Meanwhile，the random save of the acquisition data and control command were implemented by the Dynamic Data Exchange（DDE）technology. The results indicate that

the system error is detected by using CRC if the data overflow，which improves the reliability of data and command communication. The software achieves the data dynamic display and storage under different sampling frequency，meets the analysis need of dynamic performance and system response of different controlling algorithms，and monitors the performance of the compliant actuator intuitively and effectively，which provides convenient and good human-machine interaction environment for the performance analysis and control algorithm research of the compliant actuator．