scholarly journals Adaptive Balancing of Robots and Mechatronic Systems

2018 ◽  
Author(s):  
Liviu Ciupitu
Keyword(s):  
Exact Solutions ◽  
Real Time ◽  
Solid Mechanics ◽  
Vertical Plane ◽  
Approximate Solutions ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Static Loads ◽  
Time Control ◽  
Romanian Academy

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

Technical and Software Equipment for the Real Time Positioning Control System in Mechatronic Systems with Pneumatic Artificial Muscles

2015 ◽  
Vol 669 ◽  
pp. 361-369 ◽  
Author(s):  
Miroslav Rimár ◽  
Peter Šmeringai ◽  
Marcel Fedák ◽  
Štefan Kuna
Keyword(s):  
Control System ◽  
Real Time ◽  
Artificial Muscles ◽  
Experimental Measurements ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Positioning Control ◽  
The Real ◽  
Time Control ◽  
Pneumatic Artificial Muscles

This paper explains the design of real-time control system for control of drives containing the artificial muscles. Described is the design of devices hardware and software, as well as design of their involvement in the experimental device. In this paper are referred experimental measurements on the device, aimed at monitoring the change in observed characteristics caused by position changes in artificial muscles during their operation.

Control of a Haptic Interface and a Micromachining Setup With an Open Source Real-Time System

2007 ◽  
Author(s):  
Evren Samur ◽  
Ulrich Spaelter ◽  
Lionel Flaction ◽  
Pascal Maillard ◽  
Hannes Bleuler ◽  
...  
Keyword(s):  
Data Acquisition ◽  
Open Source ◽  
Real Time ◽  
Haptic Interface ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Time System ◽  
Real Time System ◽  
Ongoing Research ◽  
Time Control

Open source software have evolved into powerful tools for real-time control of mechatronic systems. They are of interest for academic purposes, as they promise high flexibility at low cost. In this paper, we investigate the performance of an open source control architecture based on the Linux Real-Time Application Interface (RTAI) through two applications, a haptic interface for surgery simulation and a setup for the micromachining of glass. Both applications demand a compact real-time system with sufficient precision (i.e. low jitter) for online process control and data acquisition. The real-time control has been realized on a laptop with a USB-port data acquisition card. Performance measurement results show that high quality real-time control can be performed up to 2kHz via USB communication, which is sufficient for a large range of robotic or mechatronic applications. Drawbacks like the need for considerable knowledge of Linux internals for successful installation as well as the current limitations are discussed and strategies are proposed to overcome these. Both setups are currently being used for ongoing research as well as for educational purposes.

Rapid prototyping of real-time control laws for complex mechatronic systems: a case study

2004 ◽  
Vol 70 (3) ◽  
pp. 263-274 ◽  
Author(s):  
M. Deppe ◽  
M. Zanella ◽  
M. Robrecht ◽  
W. Hardt
Keyword(s):  
Rapid Prototyping ◽  
Real Time ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Control Laws ◽  
Time Control

scholarly journals Adaptive Balancing of Robots and Mechatronic Systems

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 68 ◽  
Author(s):  
Liviu Ciupitu
Keyword(s):  
Vertical Plane ◽  
Approximate Solutions ◽  
Gravity Compensation ◽  
Mechatronic Systems ◽  
Static Loads ◽  
Static Balancing

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are rocking in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed, and an example is shown. The results show that a very simple passive solution which is using for gravity compensation a simple translational counterweight (that could be for example the actuating motor itself) articulated by one single bar leads to very good results in case of approximate balancing when the payload has a known variation.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

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