Design and Implementation of an Antivibration Robot Control Software

1993 ◽  
pp. 169-187
Author(s):  
Joël Deniard ◽  
Jean-Luc Faillot ◽  
Jan Swevers ◽  
Dirk Torfs
Keyword(s):  
Robot Control ◽  
Control Software ◽  
Design And Implementation

scholarly journals Design and Implementation of the Remote Control of the Manipulator

2014 ◽  
Vol 62 (6) ◽  
pp. 1521-1525 ◽  
Author(s):  
Marcel Vytečka ◽  
Vít Ondroušek ◽  
Jan Kolomazník ◽  
Michal Hammerschmiedt
Keyword(s):  
Remote Control ◽  
Third Party ◽  
Proof Of Concept ◽  
Control Software ◽  
Safety Standards ◽  
Design And Implementation ◽  
Remote Control System ◽  
Working Space ◽  
Ip Camera ◽  
Reservation System

This article is focused on the design and implementation of the complex solution of the remote control of the industrial manipulator Katana 6M180. The main aim is to increase utilization of the machine and its monitoring, whereas the safety standards won’t be affected. Both parts of the design, the hardware as well as the software one, are discussed in this article. The hardware part consists of the protective cage, controllable lighting, power circuits, electronics, server, several cameras used for image processing of the working space and one IP camera used for monitoring. The software tools represent second main part of the described solution of the remote control. This software part of the solution consists of the main control software running on the server, the reservation system and third party software that solves connections between clients and the server. Special attention is paid to the implementation of safety elements, in order to increase the robustness of the whole system. The description of one resolved task that used the designed remote control system, is listed in the conclusion as a proof of concept. The task is focused on determining parameters of the objects in the working space of the manipulator.

scholarly journals Design and implementation of an intelligent vision and sorting system

2009 ◽  
Author(s):  
◽  
Zhi Li
Keyword(s):  
Neural Network ◽  
Fuzzy Logic ◽  
Support Vector Machines ◽  
Robot Control ◽  
Support Vector ◽  
Design And Implementation ◽  
The Neural Network ◽  
Vector Machines ◽  
Control Computer ◽  
Sorting System

This research focuses on the design and implementation of an intelligent machine vision and sorting system that can be used to sort objects in an industrial environment. Machine vision systems used for sorting are either geometry driven or are based on the textural components of an object’s image. The vision system proposed in this research is based on the textural analysis of pixel content and uses an artificial neural network to perform the recognition task. The neural network has been chosen over other methods such as fuzzy logic and support vector machines because of its relative simplicity. A Bluetooth communication link facilitates the communication between the main computer housing the intelligent recognition system and the remote robot control computer located in a plant environment. Digital images of the workpiece are first compressed before the feature vectors are extracted using principal component analysis. The compressed data containing the feature vectors is transmitted via the Bluetooth channel to the remote control computer for recognition by the neural network. The network performs the recognition function and transmits a control signal to the robot control computer which guides the robot arm to place the object in an allocated position. The performance of the proposed intelligent vision and sorting system is tested under different conditions and the most attractive aspect of the design is its simplicity. The ability of the system to remain relatively immune to noise, its capacity to generalize and its fault tolerance when faced with missing data made the neural network an attractive option over fuzzy logic and support vector machines.

Temporally Consistent Simulation of Robots and Their Controllers

2014 ◽  
Author(s):  
James R. Taylor ◽  
Evan M. Drumwright ◽  
Gabriel Parmer
Keyword(s):  
Real Time ◽  
Collision Detection ◽  
Robot Control ◽  
Status Quo ◽  
Robot Dynamics ◽  
Control Software ◽  
Physical Systems ◽  
Detection Algorithms ◽  
Simulation Based ◽  
The Status

Researchers simulate robot dynamics to optimize gains, trajectories, and controls and to validate proper robot operation. In this paper, we focus on this latter application, which allows roboticists to verify that robots do not damage themselves, the environments they are situated within, or humans. In current simulations, robot control code runs in lockstep with the dynamics integration. This design can result in code that appears viable in simulation but runs too slowly on physical systems. Addressing this problem requires overcoming significant challenges that arise due both to the speed of dynamic simulation running time (simulations may run 1/10 or 1/100 of real-time or slower) and to the variability of the running times (e.g., the speed of collision detection algorithms depends on pairwise object proximities). These difficulties imply that one must not only slow the control software but also scale controller running speeds dynamically. We describe the numerous architectural and OS-level technical challenges that we have overcome to yield temporally consistent simulation for modeling robots that use only real-time processes, and we show that our system is superior to the status quo using simulation-based experiments.

Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation

Robotica ◽  
2004 ◽  
Vol 22 (6) ◽  
pp. 661-679 ◽  
Author(s):  
J. Z. Pan ◽  
R. V. Patel
Keyword(s):  
Real Time ◽  
Information Exchange ◽  
Robot Control ◽  
Data Exchange ◽  
Processing System ◽  
System Level ◽  
Layered System ◽  
Test Bed ◽  
Design And Implementation ◽  
Multi Robot

Sophisticated robotic applications require systems to be reconfigurable at the system level. Aiming at this requirement, this paper presents the design and implementation of a software architecture for a reconfigurable real-time multi-processing system for multi-robot control. The system is partitioned into loosely coupled function units and the data modules manipulated by the function units. Modularized and unified structures of the sub-controllers and controller processes are designed and constructed. All the controller processes run autonomously and intra-sub-controller information exchange is realized by shared data modules that serve as a data repository in the sub-controller. The dynamic data-management processes are responsible for data exchange among sub-controllers and across the computer network. Among sub-controllers there is no explicit temporal synchronization and the data dependencies are maintained by using datum-based synchronization. The hardware driver is constructed as a two-layered system to facilitate adaptation to various robotic hardware systems. A series of effective schemes for software fault detection, fault anticipation and fault termination are accomplished to improve run-time safety. The system is implemented cost-effectively on a QNX real-time operating system (RTOS) based system with a complete PC architecture, and experimentally validated successfully on an experimental dual-arm test-bed. The results indicate that the architectural design and implementation are well suited for advanced application tasks.

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