A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments.

Design of the Three-Dimension Motion Platform Control System Based on EtherCAT

This design contains the EtherCAT fieldbus system and the PLCopen technology. The control system can not only achieve the motion target but also simulate the Computer Numerial System effectively. Hardware is constituted by embedded IPC, SanyoDenki servo drive and motor system, EtherCAT communication module and I/O module. The PLC program run under the Windows XP system, which install Codesys RTE, so that the whole control system improve the real-time character. Paper focuses on the structure of the control system and the design of the PLC program. The experiments and program results have proved that the control system working well，reaching the pre-set target．

Research and Design of Mixed Fieldbus System

Complex control system bears a heavy task, different field equipment have different requirements in reaction time, transmission speed, real time of fieldbus. Considering the characteristics of industrial Ethernet and fieldbus, mixed fieldbus was combined with Ethernet network; CAN - Ethernet gateway of CAN fieldbus was designed as example which can achieve the interconnection between upper and lower of the control system; the enterprise information network and control network got unified. Further, the system could integrate with internet to make it more practical.

Design of a High-Speed Reconfigurable Serial Fieldbus with Reliable Communication Based on FPGA

This paper present a high-speed reconfigurable serial fieldbus (HRSFB) used for industry communication with baud rate up to 10Mbps and reliable communication. We developed this fieldbus based on UART (Universal Asynchronous Receiver/Transmitter) and practice it on FPGA. By using hardware programming on FPGA, we can get the high speed and make the bus reconfigurable easily. This fieldbus system includes one main node and up to 255 sub nodes, and all the nodes can automatically identified and configured at the beginning of the system which makes the field bus system shrink or expand easily. Also hardware CRC technology and ask/answer mode are used in the communication protocol to guarantee the security of the communication. This bus has been widely used in many fields, like PLC controller, CNC machine controller, data acquisition system and so on.