A Software Architecture For Modular Robotic Systems

1994 ◽  
pp. 9-21
Author(s):  
S. Ariffin ◽  
R.H. Weston ◽  
R. Harrison
Keyword(s):  
Control System ◽  
Software Architecture ◽  
Open Systems ◽  
Systems Design ◽  
Robotic Systems ◽  
Reference Architecture ◽  
Real Time Control ◽  
Design Environment ◽  
Machine Control ◽  
And Control

Research is described which is leading to the specification and development of a motion simulation and design environment for modular robotic systems which enables the implementation of widely applicable software processes for machine control. Current investigation is focused on defining models of application tasks in modular robotic systems. This work is based on the Real-time Control System (RCS) reference architecture proposed by researchers at the National Institute of Standards and Technology (NIST) which was designed to support motion planning and implementation. However, this architecture is modified in such a way that it supports the concept of multitasking and inter-process communication. The emphasis of work is on the hierarchical structuring of solutions, this to enable the design and control of distributed motion elements. Also discussed in this paper is a strategy for achieving sensor-based modularization of modular robotic systems in a manner which facilitates fast and efficient response to changes in the functional or environmental requirements. The paper explains how an application software architecture is unified with the open systems design approach known as Universal Machine Control (UMC), which has been devised and developed at Loughborough University to enable reuse to software and control system components.

Application of PLC Technology in the Control System of Plate Shearing Machine

2013 ◽  
Vol 312 ◽  
pp. 777-781
Author(s):  
Lu Ping Liu
Keyword(s):  
Control System ◽  
Control Technology ◽  
Working Process ◽  
Industrial Manufacturing ◽  
Plc Control ◽  
Machine Control ◽  
And Control

In the modern industrial manufacturing field, PLC plays a very important role. In this paper, through analyzing the working process and control requirements of plate shearing machine and using PLC control technology, the automation design of the plate shearing machine control system is realized.

Herstellerneutrale Programmierung von Robotern*/Manufacturer-independent programming of robots - A software architecture concept for controlling and programming heterogeneous robotic systems

2017 ◽  
Vol 107 (09) ◽  
pp. 594-599
Author(s):  
A. Magaña ◽  
G. Prof. Reinhart
Keyword(s):  
Software Architecture ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Key Technology ◽  
Robot Systems ◽  
And Control

Industrieroboter sind zu einer Schlüsseltechnologie in der Produktion geworden. Mit dem steigenden Einsatz von diversen Robotersystemen wächst das Bedürfnis, deren Kompatibilität zu steigern. Heutzutage gibt es keine Technologie in der Industrie, die eine standardisierte Programmierung und Steuerung von verschiedenen Robotersystemen gewährleisten kann. Dieser Fachbeitrag präsentiert ein einheitliches Konzept, welches die Anwendung von herstellerneutralen Roboterapplikationen ermöglicht.   Industrial robots have become a key technology in production. The increasing use of various robotic systems, raises the need to enhance their compatibilit.y Nowadays, there is no technology in the industry to guarantee a standardized programming and control of different robot systems. This article presents a concept enabling the use of manufacturer-independent robot applications.

A Hierarchical Fuzzy-Neural Multi-Model Applied in Nonlinear Systems Identification and Control

2013 ◽  
Vol 347-350 ◽  
pp. 617-622
Author(s):  
Feng Ye ◽  
Wei Min Qi
Keyword(s):  
Neural Network ◽  
Control System ◽  
Recurrent Neural Network ◽  
Systems Design ◽  
Membership Functions ◽  
Neural Network Models ◽  
Trajectory Tracking Control ◽  
Fuzzy Neural ◽  
Systems Identification ◽  
And Control

The paper brings forward a hierarchical fuzzy-neural multi-model with recurrent neural procedural consequent par for systems identification, states estimation and adaptive control of complex nonlinear plants. The parameters and states of the local recurrent neural network models are used for a local direct and indirect adaptive trajectory tracking control systems design. The designed local control laws are coordinated by a fuzzy rule-based control system. The upper level defuzzyfication is performed by a recurrent neural network. The applicability of the proposed intelligent control system is confirmed by simulation examples and by a DC-motor identification and control experimental results. Two main cases of a reference and plant output fuzzyfication are considereda two membership functions without overlapping and a three membership functions with overlapping. In both cases a good convergent results are obtained.

scholarly journals XBot: A Cross-Robot Software Framework for Real-Time Control

2021 ◽  
Author(s):  
Luca Muratore ◽  
Arturo Laurenzi ◽  
Nikos G. Tsagarakis
Keyword(s):  
Software Architecture ◽  
Real Time ◽  
Humanoid Robots ◽  
Robotic Systems ◽  
Real Time Control ◽  
Software Infrastructure ◽  
Robotic Arms ◽  
Time Control ◽  
Control Frequency ◽  
High Control

The widespread use of robotics in new application domains outside the industrial workplace settings requires robotic systems which demonstrate functionalities far beyond that of classical industrial robotic machines. The implementation of these capabilities inevitably increases the complexity of the robotic hardware, control a and software components. This chapter introduces the XBot software architecture for robotics, which is capable of Real-Time (RT) performance with minimum jitter at relatively high control frequency while demonstrating enhanced flexibility and abstraction features making it suitable for the control of robotic systems of diverse hardware embodiment and complexity. A key feature of the XBot is its cross-robot compatibility, which makes possible the use of the framework on different robots, without code modifications, based only on a set of configuration files. The design of the framework ensures easy interoperability and built-in integration with other existing software tools for robotics, such as ROS, YARP or OROCOS, thanks to a robot agnostic API called XBotInterface. The framework has been successfully used and validated as a software infrastructure for collaborative robotic arms as KUKA lbr iiwa/lwr 4+ and Franka Emika Panda, other than humanoid robots such as WALK-MAN and COMAN+, and quadruped centaur-like robots as CENTAURO.

Application of COM/DCOM Based Multi-Layer Software Architecture in Measurement & Control Program

2011 ◽  
Vol 179-180 ◽  
pp. 824-829 ◽  
Author(s):  
Xian Min Wei
Keyword(s):  
Control System ◽  
Software Architecture ◽  
Control Program ◽  
Design And Development ◽  
Measurement And Control System ◽  
Gradual Evolution ◽  
Measurement Control ◽  
And Control ◽  
Measurement And Control ◽  
Pressure Measurement System

Software architecture plays a more and more important role in measurement and control program design and development. It affects not only the progress of design and development, but also the gradual evolution potentiality of measurement and control system. This paper presents a COM/DCOM based N-layer software architecture and its usage in the design and development of the WFD2000 operating program. The application of this architecture greatly improves the reliability, configurability, flexibility and portability of the pressure measurement system.

Vibration Application Based on Machine and Control System

2013 ◽  
Vol 443 ◽  
pp. 281-284
Author(s):  
Jia Long
Keyword(s):  
Control System ◽  
Control Systems ◽  
Human Body ◽  
Information Technologies ◽  
Human Performance ◽  
Mechanical Effect ◽  
Significant Difference ◽  
Machine Control ◽  
And Control ◽  
Positive Effect

Vibration is a mechanical phenomenon whereby oscillations occur about an equilibrium point.Vibration platform uses machine, control system and information technologies to optimize human performance. In order to explore the mechanical effect of vibration based on machines and control systems on human performance, twenty participants were voluntarily involved in this trial. The findings of this study indicated that automation vibration has significant difference on human performance. It has a positive effect on human body. Therefore, vibration can be used in auto regulation.

Software and Hardware Realization of Network-Based CNC Engraving Machine Control System

2011 ◽  
Vol 411 ◽  
pp. 198-202
Author(s):  
Wen Hui Mu ◽  
Xiao Li Jin ◽  
Dang Li Wang ◽  
Hui Yang
Keyword(s):  
Control System ◽  
Remote Monitoring ◽  
Computer Network ◽  
Network Technology ◽  
Real Time Control ◽  
Time Control ◽  
Hardware Realization ◽  
Software And Hardware ◽  
Machine Control ◽  
Profibus Dp

With the development of computer network technology, Networked manufacturing will be used widely in modern CNC engraving system. In this study, on the basis of analyzing the problems and network modes of traditional CNC engraving system, the control system of network-based CNC engraving machine was presented. For meeting the needs of real-time control and remote monitoring, PROFIBUS-DP fieldbus and Ethernet are introduced into the system. And hardware structure is given. Moreover, as to the realization of system software, the idea and method of modular programmed have been adopted to ensure the security and reliablity of the control system running.

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