A real-time distributed computer system for coordinated-motion control of two industrial robots

2005 ◽  
Author(s):  
Yuan Zheng ◽  
J. Luh ◽  
Pei Jia
Keyword(s):  
Real Time ◽  
Computer System ◽  
Motion Control ◽  
Industrial Robots ◽  
Coordinated Motion ◽  
Distributed Computer System

Coordinated-motion control of heavy-duty industrial machines with redundancy

Robotica ◽  
1995 ◽  
Vol 13 (6) ◽  
pp. 623-633 ◽  
Author(s):  
N. Singh ◽  
H. Zghal ◽  
N. Sepehri ◽  
S. Balakrishnan ◽  
P. D. Lawrence
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Performance Criterion ◽  
Hyperbolic Function ◽  
Coordinated Motion ◽  
Special Cases ◽  
Joint Limits ◽  
Joint Motions ◽  
Joint Velocity ◽  
New Criterion

SummaryAn implementation of a real-time scheme suitable for coordinated-motion control of a class of teleoperated industrial machines with redundancy is presented. An efficient gradient projection technique is adopted for the numerical solution. The scheme utilizes the redundancy to avoid the joint limits by minimizing a hyperbolic function of the joint distances from the mid-range. This new performance criterion is shown to be advantageous over similar criteria; both the joint-limit avoidance capability and the resulting joint velocity profiles can be adjusted by the appropriate choice of parameters introduced in the criterion. Previous criteria are shown to be special cases of the new criterion. Furthermore, the scheme includes a novel algorithm which incorporates the bounded joint velocities. The joint motions are determined considering both the required task in terms of the desired end-effector speed and the dynamic considerations, such as hydraulic circuit interdependency and power limitations.The feasibility and effectiveness of the implementation of the scheme is first tested through simulations of a Kaiser Spyder-like excavator machine on a PC-486 micro-computer. The robustness and real-time response of the scheme are then validated on a real-time excavator-based graphics simulator interfaced to a human operator through a joystick.

Coordinated Motion Control of Large-Scale Transporter for Conveying Heavy Frame Components in Ship-Manufacturing

2006 ◽  
Vol 505-507 ◽  
pp. 1159-1164
Author(s):  
Yun Hua Li ◽  
Li Man Yang ◽  
Gui Lin Yang
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Large Scale ◽  
Steering System ◽  
Networked Control System ◽  
Dynamics Modeling ◽  
Time Data ◽  
Coordinated Motion ◽  
Modeling And Analysis ◽  
Control Methodology

A large-scale elevating transporter that has multi-wheels to be steered independently is a very complex mechatronic system. Aiming at its real-time coordinated motion control, a multi-mode steering system based on Networked Control System (NCS) is proposed to tackle the problem in the paper. Through motion synthesis, such as kinematics and dynamics modeling and analysis, and using the inherent real-time data sharing of the NCS, a cross-coupled control algorithm for improving contour accuracy is developed. This control methodology is then applied to the coordinated motion control of a practical product with multi-steering modes successfully.

Diagnostic Model for a Distributed Computer System in Real Time

2020 ◽  
Vol 59 (5) ◽  
pp. 684-694
Author(s):  
A. M. Gruzlikov ◽  
N. V. Kolesov ◽  
E. V. Lukoyanov ◽  
M. V. Tolmacheva
Keyword(s):  
Real Time ◽  
Computer System ◽  
Diagnostic Model ◽  
Distributed Computer System

Some Recent Results in Quiescent Prominence Spectrometry

1979 ◽  
Vol 44 ◽  
pp. 41-47
Author(s):  
Donald A. Landman
Keyword(s):  
Real Time ◽  
Computer System ◽  
Spectral Response ◽  
Absolute Intensity ◽  
Solar Observatory ◽  
Target Size ◽  
Small Target ◽  
Signal Averaging ◽  
Quiescent Prominence

This paper describes some recent results of our quiescent prominence spectrometry program at the Mees Solar Observatory on Haleakala. The observations were made with the 25 cm coronagraph/coudé spectrograph system using a silicon vidicon detector. This detector consists of 500 contiguous channels covering approximately 6 or 80 Å, depending on the grating used. The instrument is interfaced to the Observatory’s PDP 11/45 computer system, and has the important advantages of wide spectral response, linearity and signal-averaging with real-time display. Its principal drawback is the relatively small target size. For the present work, the aperture was about 3″ × 5″. Absolute intensity calibrations were made by measuring quiet regions near sun center.

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