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