Open-Source Real-Time Robot Operation and Control System for Highly Dynamic, Modular Machines

2013 ◽  
Author(s):  
Andrew Peekema ◽  
Daniel Renjewski ◽  
Jonathan Hurst
Keyword(s):  
Control System ◽  
Open Source ◽  
Real Time ◽  
High Frequency ◽  
Performance Test ◽  
Frequency Control ◽  
Human Robot Interaction ◽  
Sensors And Actuators ◽  
Key Innovation ◽  
Hard Real Time

The control system of a highly dynamic robot requires the ability to respond quickly to changes in the robot’s state. This type of system is needed in varying fields such as dynamic locomotion, multicopter control, and human-robot interaction. Robots in these fields require software and hardware capable of hard real-time, high frequency control. In addition, the application outlined in this paper requires modular components, remote guidance, and mobile control. The described system integrates a computer on the robot for running a control algorithm, a bus for communicating with microcontrollers connected to sensors and actuators, and a remote user interface for interacting with the robot. Current commercial solutions can be expensive, and open source solutions are often time consuming. The key innovation described in this paper is the building of a control system from existing — mostly open source — components that can provide realtime, high frequency control of the robot. This paper covers the development of such a control system based on ROS, OROCOS, and EtherCAT, its implementation on a dynamic bipedal robot, and system performance test results.

Human-robot interaction in industry 4.0 based on an internet of things real-time gesture control system

2020 ◽  
pp. 1-17
Author(s):  
Luis Roda-Sanchez ◽  
Teresa Olivares ◽  
Celia Garrido-Hidalgo ◽  
José Luis de la Vara ◽  
Antonio Fernández-Caballero
Keyword(s):  
Control System ◽  
Internet Of Things ◽  
Real Time ◽  
Industry 4.0 ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Gesture Control

High Precision Timing of the Copying Control System Based on Windows 2000

2009 ◽  
Vol 626-627 ◽  
pp. 87-92
Author(s):  
X.H. Lu ◽  
Zhen Yuan Jia ◽  
Y.Z. Lv ◽  
J.Y. Yang
Keyword(s):  
Operating System ◽  
Control System ◽  
Real Time ◽  
High Precision ◽  
High Frequency ◽  
Timing Error ◽  
The Real ◽  
Timing Function ◽  
Design Proposal ◽  
Windows 2000

A design proposal for developing a high-precision timer of the real-time digital copying control system is put forward by analyzing the real-time characteristics of Windows 2000 operating system. Proposals of using information systems timer—WM_TIMER, multimedia timer, VxD and hardware to achieve high-precision timing in Windows operating system are analyzed and compared. Based on computer high-frequency timer and multi-thread technology, timing function provided by Microsoft Visual C++ is used to achieve a high-precision software timer of the system. Finally, the researched timing method is tested in Advantech IPC-610 host with Intel Pentium 4 processor, and the maximum timing error is less than 5μs which meets the system timing requirements.

The Research of Electronical Control System Based on OSEK/VDX

2009 ◽  
Vol 16-19 ◽  
pp. 100-104
Author(s):  
Yue Pan ◽  
Jian Chang Liu
Keyword(s):  
Operating System ◽  
Control System ◽  
Open Source ◽  
Real Time ◽  
Embedded Operating System ◽  
Application Development ◽  
Operation System ◽  
Real Time Operating System

The standard of OSEK/VDX which used in the embedded operating system of car was analysized, and based on this, to select the open-source real-time operating system μC/OS-II as a operation system that will be loaded in the control chip. After that the kernel structure of the μC/OS-II was analysized, and modified the kernel of the system in accordance with OSEK/VDX standards, then translated the μC/OS-II system to the LPC2131 development board for the follow-up application development laid the foundation.

The Simulation Research of Two State Markov Chain in the Double Random SVPWM of the Variable Frequency Control System

2014 ◽  
Vol 971-973 ◽  
pp. 1828-1833
Author(s):  
Bo Zheng ◽  
Hong Zheng
Keyword(s):  
Markov Chain ◽  
Control System ◽  
High Frequency ◽  
Frequency Control ◽  
Switching Frequency ◽  
Variable Frequency ◽  
Output Current ◽  
Frequency Control System ◽  
Variable Frequency Control ◽  
Harmonic Components

At present the Space Vector Pulse Width Modulation (SVPWM) technique has been widely used in the variable frequency control system,but the technique will make the system produce higher harmonic components at the switching frequency integer multiple times,thus the harmonic produce the high frequency noise.In the face of this problem, this paper adopts double random SVPWM technique which is added two state Markov chain to effectively reduce the high frequency noise.The technique makes the harmonic components amplitude value of the output current reduced effectively in the inverter of the variable frequency control system,so that the more output current is more relatively evenly distributed in the wide frequency range,so as to minimize the electromagnetic noise.

SoftPLC-Based Control

2012 ◽  
pp. 440-463 ◽  
Author(s):  
Stefano Scanzio
Keyword(s):  
Open Source ◽  
Control Systems ◽  
Real Time ◽  
Open Source Software ◽  
Industrial Ethernet ◽  
Programmable Logic ◽  
Programmable Logic Controllers ◽  
Hard Real Time ◽  
Logic Controllers

Nowadays, most control systems are based on programmable logic controllers (PLCs) and on commercial programs, but the use of conventional PCs is becoming an increasing by popularity and competitive alternative. After an introduction that underlines the positive and negative aspects of both solutions, EtherCAT, a hard real-time industrial Ethernet protocol that allows the use of both conventional PCs and open-source software, is analyzed. Two different EtherCAT master implementations are compared, which are based on a commercial and on a open-source software, respectively. In order to highlight differences and provide a short reference, a simple example was implemented in the two environments.

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