scholarly journals Implementation of real-time parallel processing in a motion control system

2002 ◽  
Author(s):  
C.C. Chan ◽  
Zhu Meiling
Keyword(s):  
Control System ◽  
Parallel Processing ◽  
Real Time ◽  
Motion Control ◽  
Motion Control System

Research on software synchronization method of real-time ethernet distributed motion control system

2019 ◽  
Vol 39 (5) ◽  
pp. 904-916
Author(s):  
Zhengyu Huang ◽  
Lingyu Chen ◽  
Lianchao Zhang ◽  
Shixun Fan ◽  
Dapeng Fan
Keyword(s):  
Control System ◽  
Real Time ◽  
Motion Control ◽  
Key Factors ◽  
Motion Control System ◽  
Content Type ◽  
Factors Affecting ◽  
Synchronization Method ◽  
Factors Influencing ◽  
Synchronization Performance

Purpose This paper aims to analyze the key factors influencing the synchronization performance of distributed motion control system and to improve the synchronization performance for peripherals control of this system. Design/methodology/approach This paper deals with the software synchronization problems of distributed motion control system based on real-time Ethernet. First, combined with communication and control tasks, the key factors affecting synchronization performance of system are analyzed. Then, aiming at key factors and considering the synchronization of system bus, protocol conversion and task scheduling, a software synchronization method based on CANopen protocol and real-time Ethernet is proposed. Finally, the feasibility of this method is verified by establishing distributed motion control system and testing the synchronization performance of terminal control signals of slaves. Findings Based on this method, the results show that the synchronization accuracy for peripherals control of all slaves could be about 100 ns. Practical implications This research provides high-precision synchronization method, which could lay a foundation for the application of distributed motion control system in the field of assembly automation, such as multi-axis assembly robots control. Originality/value In distributed motion control system, many factors affect the synchronization performance. At present, there is no synchronization method that could comprehensively consider these factors. This paper not only analyzes the key factors influencing the synchronization performance of system but also proposes a synchronization method. Therefore, the method proposed in this paper has certain theoretical value and engineering significance.

Design of a Locomotion Control System for Live Working Robot

2015 ◽  
Vol 741 ◽  
pp. 675-680
Author(s):  
Cun Gen Liu ◽  
Shou Yin Lu ◽  
Yuan Liu ◽  
Ying Zhang
Keyword(s):  
Control System ◽  
Response Time ◽  
Real Time ◽  
Motion Control ◽  
Fast Response ◽  
Locomotion Control ◽  
Motion Control System ◽  
Protection Measures ◽  
Safety Protection ◽  
Reliable Performance

Live working robot is developed for live working, and it can instead of operators completing the corresponding action and tasks real-time and accurately. For Kraft hydraulic live working robot, this paper designed a motion control system based on TRIO464. This control system can realize the movement of each joint and has advantages of high positioning precision, fast response time, safe and reliable performance, multiple safety protection measures.

Research on Distributed Multi-Axis Motion Control System Based on CANopen

2013 ◽  
Vol 579-580 ◽  
pp. 680-685
Author(s):  
Guang You Yang ◽  
Zong Mei Tang ◽  
Zhi Yan Ma
Keyword(s):  
Control System ◽  
Real Time ◽  
Motion Control ◽  
Distributed Control ◽  
Modular Design ◽  
Protocol Stack ◽  
Distributed Control System ◽  
Software Module ◽  
Motion Control System ◽  
Control Requirement

The 32-bit ARM Cortex-M3 core processor Stm32f107vc which integrates two sets of bxCAN interfaces is used as hardware platform to achieve the design of hardware module and software module in this paper. Firstly, real-time multi-tasking operating system μCOS-II is ported to stm32 processor, then open source protocol stack microCANopen which is high real-time and reliable is transplanted under the μCOS-II, so a design of CANopen slave station is achieved. The CAN analyzer which is equipped with monitor trace functionality is used as CANopen master station to start the network, with three CANopen slave stations and one HMI, a distributed multi-axis motion control system based on CANopen which achieves network management and synchronous transmission of data in distributed control system is designed. On above basis, Fuji ALPHA5 Smart servo is used as executive member, modular design of reconfigurable motion control algorithm is realized, furthermore, The flexible module configuration enables the designer to develop systems conveniently according to the change of control requirement and network topology. This distributed control system not only has good real-time performance and stability, but also can reduce the complexity, enhance the flexibility of control system and save cost.

scholarly journals Intuitive human interface to a scanning tunnelling microscope: observation of parity oscillations for a single atomic chain

2019 ◽  
Vol 10 ◽  
pp. 337-348
Author(s):  
Sumit Tewari ◽  
Jacob Bakermans ◽  
Christian Wagner ◽  
Federica Galli ◽  
Jan M van Ruitenbeek
Keyword(s):  
Control System ◽  
Real Time ◽  
Motion Control ◽  
High Vacuum ◽  
Point Contact ◽  
Control Individual ◽  
Scanning Tunnelling Microscope ◽  
Motion Control System ◽  
Scanning Tunnelling ◽  
Atomic Manipulation

A new way to control individual molecules and monoatomic chains is devised by preparing a human–machine augmented system in which the operator and the machine are connected by a real-time simulation. Here, a 3D motion control system is integrated with an ultra-high vacuum (UHV) low-temperature scanning tunnelling microscope (STM). Moreover, we coupled a real-time molecular dynamics (MD) simulation to the motion control system that provides a continuous visual feedback to the operator during atomic manipulation. This allows the operator to become a part of the experiment and to make any adaptable tip trajectory that could be useful for atomic manipulation in three dimensions. The strength of this system is demonstrated by preparing and lifting a monoatomic chain of gold atoms from a Au(111) surface in a well-controlled manner. We have demonstrated the existence of Fabry–Pérot-type electronic oscillations in such a monoatomic chain of gold atoms and determined its phase, which was difficult to ascertain previously. We also show here a new geometric procedure to infer the adatom positions and therefore information about the substrate atoms, which are not easily visible on clean metallic surfaces such as gold. This method enables a new controlled atom manipulation technique, which we will refer to as point contact pushing (PCP) technique.

Motion Control of 6-DOF Manipulator Based on EtherCAT

2018 ◽  
Vol 22 (4) ◽  
pp. 415-428 ◽  
Author(s):  
Nannan Li ◽  
Hongbin Ma ◽  
Qing Fei ◽  
Hao Zhou ◽  
Shaoke Li ◽  
...  
Keyword(s):  
Control System ◽  
Open Source ◽  
Real Time ◽  
Motion Control ◽  
Trajectory Planning ◽  
Communication Process ◽  
Planning Problem ◽  
Motion Control System ◽  
The Real ◽  
Time Motion

We introduce a real-time motion control system that uses the EtherCAT protocol and apply it to a manipulator with six degrees of freedom. The complexity of a multi-joint manipulator leads to higher requirements for synchronous and real-time performance. EtherCAT technology can greatly improve the performance in terms of accuracy, speed, capability, and band width in industrial control, which is crucial in our robot projects. In this paper, we discuss a servo motion control system based on EtherCAT using IgH as the open-source master station. A Linux operating system is adopted because of the advantages of open-source, high-efficiency, and high-stability operation as well as multi-platform support, which provide more flexibility, freedom, and extendability to developers. Considerable research has been conducted to explore EtherCAT technologies, completely implementing home-made codes with the aid of open-source libraries, debugging the master-slave communication process, and testing the resulting motion controller running on Linux or POSIX-compatible operating systems. To improve the real-time response of servo control, a real-time Xenomai kernel has been compiled, adopted, and tested, and it showed significant enhancement of the real time of a servo motion control system. Furthermore, we explore trajectory planning and inverse kinematic solutions. A trajectory planning method based on B-spline interpolation of three degrees, which makes each part of the trajectory planning curve have relative independence and continuity, is proposed for the kinematic trajectory planning problem in Cartesian space. A coordinate system is established using the modified D-H parameters method to obtain the inverse kinematics of the manipulator. The simulation and experimental results show that the calculation speed of inverse solutions is excellent and the motion of the manipulator is continuous and smooth.

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