scholarly journals NEW DESIGN OF PLC-BASED ROBOTIC CONTROL SYSTEM FOR CONCRETE PRINTING IN BUILDING CONSTRUCTION

2021 ◽  
Vol 2021 (6) ◽  
pp. 5346-5352
Author(s):  
DANIEL KAJZR ◽  
◽  
JOSEF BROUSEK ◽  
TOMAS PETR ◽  
LEOS BERAN ◽  
...  
Keyword(s):  
Control System ◽  
Code Generation ◽  
Robotic Arm ◽  
Control Algorithms ◽  
Test Results ◽  
Robotic Control ◽  
Efficient System ◽  
Advantages And Disadvantages ◽  
Open Control ◽  
Automatic Code

This paper presents a new platform for the development of an open control system for a robotic arm designed for the 3D printing of buildings. This platform uses a very efficient system of automatic code generation which greatly simplifies the process of robotic arm synthesis and analysis while allowing the deployment of custom control algorithms. An experimental workplace, with a reduced and simplified robotic arm, has been developed for the purpose of testing the platform. The mechanical and electrical construction of this experimental workplace is explained. The control system platform is also introduced and data from the test results are included. Both the advantages and disadvantages are discussed at the end.

scholarly journals Prototipado virtual de un controlador por etapas para un brazo robótico en una aplicación ASLRS

2015 ◽  
Vol 1 (2) ◽  
pp. 163
Author(s):  
Frank Flórez Montes ◽  
Jhon Alexander Tabagorda Giraldo
Keyword(s):  
Code Generation ◽  
System Performance ◽  
Retrieval System ◽  
Decision Rules ◽  
Robotic Arm ◽  
Recovery Processes ◽  
Automatic Search ◽  
Flow Charts ◽  
Automatic Code ◽  
Search And Retrieval

ONTARE. REVISTA DE INVESTIGACIÓN DE LA FACULTAD DE INGENIERÍAEn este trabajo, se presentan los procesos de diseño y prototipado rápido de un controlado por etapas, para un brazo robótico de un sistema de búsqueda y recuperación automático (ASLRS) de libros para una biblioteca, denominado Biblio-bot. El controlador por etapas, se diseñó a través de reglas de decisión secuencial y combinacional basadas en máquinas de estado y diagramas de flujo del entorno de Simulink-Stateflow, el cual permite la generación automática de código de ejecución en tiempo real, además de la validación del diseño en entornos de realidad virtual. El artículo presenta los resultados del proyecto Biblio-bot relacionados con el diseño y puesta a punto del proceso de recuperación de libros por parte del brazo robótica, dado que es el proceso más crítico en el funcionamiento del sistema ABSTRACTIn  this  research  paper  we  present  the  design  and  rapid  prototyping processes  of a stage-based controller for a robotic arm in an automatic search and retrieval system (ASLRS) of books in a library, called Biblio-bot. The design of a stage-based controller uses  sequential and combinational decision rules based on state machines and flow charts of the Simulink­ State flow environment. This toolbox allows automatic code generation at real-time execution and validation of designs in virtual reality environments. We show outcomes of the Biblio-bot project concerning  the design and  tuning of books, recovery processes using the robotic arm. This process is the most critical task in the Biblio-bot system performance. 

scholarly journals Code generation approaches for parallel geometric multigrid solvers

2020 ◽  
Vol 28 (3) ◽  
pp. 123-152
Author(s):  
Harald Köstler ◽  
Marco Heisig ◽  
Nils Kohl ◽  
Sebastian Kuckuk ◽  
Martin Bauer ◽  
...  
Keyword(s):  
Code Generation ◽  
Elliptic Partial Differential Equation ◽  
General Purpose ◽  
Advantages And Disadvantages ◽  
Modern Computer ◽  
Multigrid Solvers ◽  
Computational Science And Engineering ◽  
Automatic Code ◽  
Physical And Mathematical Models ◽  
Geometric Multigrid

AbstractSoftware development for applications in computational science and engineering has become complex in recent years. This is mainly due to the increasing parallelism and heterogeneity in modern computer architectures and to the more realistic physical and mathematical models that have to be processed. One idea to address this issue is to use code generation techniques. In contrast to manual implementations in a general-purpose computing language, they allow to integrate automatic code transforms to produce efficient code for different models and platforms. As an example the numerical solution of an elliptic partial differential equation via generated geometric multigrid solvers is considered. We present three code generation approaches for it and discuss their advantages and disadvantages with respect to performance, portability, and productivity.

Matlab-Based Embedded Controller Design for Robot

2010 ◽  
Vol 139-141 ◽  
pp. 2126-2131
Author(s):  
Yi Ning ◽  
Jun Feng Zhao
Keyword(s):  
Control System ◽  
Code Generation ◽  
Controller Design ◽  
Algorithm Design ◽  
Space Robot ◽  
System Stability ◽  
Design System ◽  
Development Environment ◽  
Embedded Control ◽  
Automatic Code

For highly complex embedded control systems, the use of traditional methods of design is very difficult to achieve satisfactory results. In a cooperative project of national 863 plans, the Matlab-based scheme in TDE (Total Development Environment) way was made to design the control system of free-flying space robot, an in-obit service satellite. It can overcome the shortcomings of traditional design to make greater system stability, improve the life of the equipment, speed up development and reduce development costs. In this paper, a development platform was built on Matlab for embedded control system of the manipulator onboard the free-flying space robot. The controller design and simulation was implemented on it. The entire development process is divided into algorithm design, system simulation, and automatic code generation. A test harness was created to test and verify the unit-under-test. The results of experiment show that Control accuracy of the simulation was satisfied with the practical requirements.

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