Development of a control architecture for a parallel three-axis robotic arm mechanism using CANopen communication protocol

2021 ◽  
pp. 1063293X2110019
Author(s):  
Fu-Shin Lee ◽  
Chen-I Lin ◽  
Zhi-Yu Chen ◽  
Ru-Xiao Yang
Keyword(s):  
High Speed ◽  
Closed Loop ◽  
Communication Protocol ◽  
Tracking Error ◽  
Robotic Arm ◽  
Control Architecture ◽  
Robot Kinematics ◽  
Closed Loop Control ◽  
Loop Control ◽  
Movable Platform

Based upon the CANopen communication protocol and the LabVIEW graphic programing procedures, this paper develops a closed-loop control architecture for a parallel three-axis (Delta) robotic arm mechanism. The accomplishments include prototyping a parallel three-axis robotic arm mechanism, assembling servomotors with associated encoders and gearsets, coding CANopen communication scripts for servomotor controllers and a host supervision GUI, coding forward/inverse kinematics scripts to compute the required servomotor rotations and the coordinates of a movable platform or the mechanism, coding tracking error compensation scripts for effective closed-loop griper control, and coding integration scripts to command and supervise the mechanism motion on the LabVIEW-based host GUI. During the development stage, this research designed and prototyped the parallel three-axis robotic arm mechanism based upon basic Delta robot kinematics. To control the mechanism effectively and accurately, this study implemented the CANopen communication protocol, which characterizes high speed and stable transmission. The protocol applies to the CANopen communication channels among the controllers and the host supervision GUI. On the LabVIEW development platform, the coded supervision GUI performs issuing/receiving messages to the CANopen-based controllers. The controllers excite the servomotors and actuate the parallel mechanism to track prescribed trajectories in a closed-loop control fashion. Meanwhile, an electromagnet attached to the movable platform of the robotic mechanism performs satisfactory picking/placing object actions.

scholarly journals Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force

Micromachines ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 121 ◽  
Author(s):  
Yanru Zhao ◽  
Xiaojie Huang ◽  
Yong Liu ◽  
Geng Wang ◽  
Kunpeng Hong
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Tracking Error ◽  
Closed Loop Control ◽  
Structure Parameters ◽  
Loop Control ◽  
Amplification Ratio ◽  
Gripping Force ◽  
And Control ◽  
Tip Displacement

A piezoelectric-driven microgripper with three-stage amplification was designed, which is able to perceive the tip displacement and gripping force. The key structure parameters of the microgripper were determined by finite element optimization and its theoretical amplification ratio was derived. The tracking experiments of the tip displacement and gripping force were conducted with a PID controller. It is shown that the standard deviation of tracking error of the tip displacement is less than 0.2 μm and the gripping force is 0.35 mN under a closed-loop control. It would provide some references for realizing high-precision microassembly tasks with the designed microgripper which can control the displacement and gripping force accurately.

The Design of Monitoring System in Large Hydraulic Press Aiming at the Precise Closed-Loop Control

2014 ◽  
Vol 989-994 ◽  
pp. 3062-3069
Author(s):  
Heng Du ◽  
Bin Huang ◽  
Lin Wang ◽  
Shu Mei Chen
Keyword(s):  
Data Acquisition ◽  
Monitoring System ◽  
High Speed ◽  
Closed Loop ◽  
Hydraulic Press ◽  
Signal Acquisition ◽  
Closed Loop Control ◽  
Repeated Testing ◽  
Loop Control ◽  
The Status

In the research and development of the precise closed-loop control system in large hydraulic press, the touch screen and PLC are frequently applied to design, debug and test for the system. Though a better closed-loop control characteristic can be acquired after repeated testing by this way, the comprehensive state data of hydraulic press are unable to get, which leads to a long research cycle and also restricts the maintenance and upgrade with the equipment in the later period. In order to obtain the whole state information of hydraulic press easily and effectively, a monitor system of precise closed-loop control in large hydraulic press is designed. Based on reasonable cooperation of sensors and high-speed data-acquisition card, high-speed and precise signal acquisition is realized. In addition, data-acquisition software program is designed base on LabVIEW, it can achieve the functions of collecting, storing, displaying and analyzing data. Through the real measuring and analyzing on a certain large ceramic hydraulic press, the status of key parameters can be acquired effectively during the whole pressing process. So the monitoring system supplies the significant data basis to the precise closed-loop control, accelerates the design and development of high characteristic precise closed-loop control and also strongly supports to the maintenance and upgrade with the equipments in the later period.

scholarly journals Neural Network-Based State Estimation for a Closed-Loop Control Strategy Applied to a Fed-Batch Bioreactor

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-16 ◽  
Author(s):  
Santiago Rómoli ◽  
Mario Serrano ◽  
Francisco Rossomando ◽  
Jorge Vega ◽  
Oscar Ortiz ◽  
...  
Keyword(s):  
Neural Network ◽  
Closed Loop ◽  
Rbf Neural Network ◽  
Control Strategies ◽  
Tracking Error ◽  
Closed Loop Control ◽  
Online Information ◽  
Fed Batch ◽  
Loop Control ◽  
Batch Bioreactor

The lack of online information on some bioprocess variables and the presence of model and parametric uncertainties pose significant challenges to the design of efficient closed-loop control strategies. To address this issue, this work proposes an online state estimator based on a Radial Basis Function (RBF) neural network that operates in closed loop together with a control law derived on a linear algebra-based design strategy. The proposed methodology is applied to a class of nonlinear systems with three types of uncertainties: (i) time-varying parameters, (ii) uncertain nonlinearities, and (iii) unmodeled dynamics. To reduce the effect of uncertainties on the bioreactor, some integrators of the tracking error are introduced, which in turn allow the derivation of the proper control actions. This new control scheme guarantees that all signals are uniformly and ultimately bounded, and the tracking error converges to small values. The effectiveness of the proposed approach is illustrated on the basis of simulated experiments on a fed-batch bioreactor, and its performance is compared with two controllers available in the literature.

High Speed Weld Control System of Dual-Bypass MIG Based on LabVIEW

2010 ◽  
Vol 139-141 ◽  
pp. 1852-1855
Author(s):  
Cheng Xue ◽  
Yu Shi ◽  
Ding Fan ◽  
Hao Zhong ◽  
Ming Xiao Shi
Keyword(s):  
Control System ◽  
High Speed ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Mig Welding ◽  
Loop Control ◽  
Weld Formation ◽  
And Control ◽  
Control Output ◽  
Test Result

Dual-bypass MIG welding (DB-GMAW) is a new kind of high speed MIG welding with three arcs. In order to monitor the weld process and control it, a high speed weld system of DB-GMAW was built. The system was run by LabVIEW programs, including getting data of system and control output signals. The test result of system showed that all equipments could be used in the same time. Beside images of weld pool and arc, the weld voltages and currents of every part had been acquired. The signals of bypass current and weld speed also had been input TIG welding sources and worktable motor successfully. Meanwhile, the high speed weld formation had a good quality, and all of these established the closed-loop control of high speed DB-GMAW.

scholarly journals A closed loop control of super high speed reluctance motor.

1987 ◽  
Vol 107 (2) ◽  
pp. 271-278
Author(s):  
Tadashi Fukao ◽  
Akira Chiba ◽  
Mikihiko Matsui
Keyword(s):  
High Speed ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Loop Control ◽  
Reluctance Motor

Dynamic and Control Modeling and Simulation of High Speed Precision Positioning XY Table

2011 ◽  
Vol 467-469 ◽  
pp. 978-983
Author(s):  
Zhi Peng Ma ◽  
Xing Yu Zhao ◽  
Fu Jun Wang ◽  
Da Wei Zhang
Keyword(s):  
Control Strategy ◽  
High Speed ◽  
Closed Loop ◽  
Dynamic Performance ◽  
Matching Law ◽  
Closed Loop Control ◽  
Precision Positioning ◽  
Loop Control ◽  
Decoupling Mechanism ◽  
And Control

To study the dynamic performance and control strategy of a kind of high speed precision positioning XY table with a new kind of decoupling mechanism, the electromechanical co-simulation model with three closed-loop control system using proportional–integral–derivative controller (PID controller) is constructed. By use of finite element analysis (FEA) and co-simulation method, the preloaded spring as the key component in the decoupling mechanism is optimized. The matching law of the spring stiffness and preload is presented. The decoupling mechanism influence on the dynamic performance of the XY table during the movement is fully discussed. Based on the electromechanical model, a three closed-loop control scheme with disturbance observer and feed-forward controller is proposed. Co-simulation results demonstrate the validity of the control strategy.

Design of Stepping Motor Position Closed Loop Control System Based on PLC

2011 ◽  
Vol 127 ◽  
pp. 126-129
Author(s):  
Li Hong Wang ◽  
Yue Ling Zhao
Keyword(s):  
Control System ◽  
High Speed ◽  
Closed Loop ◽  
Position Control ◽  
Displacement Sensor ◽  
Closed Loop Control ◽  
Stepping Motor ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System

A stepping motor position closed loop control system was designed, which adopts displacement sensor to examine the position of the load. The system’s hardware constitute was given here, and the pulse control project was given at the same time. It uses the high-speed pulse output of PLC to export the adjustable frequency pulse. The adjustment of the frequency based on the error of initial value and actual value. On one hand, it can realize fast and accurate position control. On the other hand, it can overcome the weakness of losing step. Thus makes the system have better control function.

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