Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor

1998 ◽  
Vol 10 (6) ◽  
pp. 505-514
Author(s):  
Yoshiyuki Sankai ◽  
◽  
Tetsuya Nii ◽  
Shinichi Kariya
Keyword(s):  
Real Time ◽  
Parallel Computation ◽  
Digital Signal Processor ◽  
High Speed ◽  
Control Method ◽  
Digital Signal ◽  
Real Time Control ◽  
Parallel Calculation ◽  
Time Control ◽  
Signal Processor

We propose an objective parallel computation/control method, developing the following to solve conventional problems and installing a controller on a robot with links decomposed to objects: 1) parallel calculation for twodimensional link dynamics, 2) downsizing of a high-speed controller using a digital signal processor (DSP), 3) a common robot control library, and 4) parallel calculation control of a multilink system. Evaluating parallel computation/control using the DSP, we verified fine compact controller efficiency in real-time control of multi-DOF systems and control performance comparing overall system control by linear quadratic optimal control.

scholarly journals Real-Time Control of Beam Trajectories Using Digital Signal Processor for the Heavy Ion Beam Probe on the Large Helical Device

2010 ◽  
Vol 5 ◽  
pp. 043-043
Author(s):  
Shigetoshi NAKAMURA ◽  
Akihiro SHIMIZU ◽  
Takeshi IDO ◽  
Kazuo TOI ◽  
Masaki NISHIURA ◽  
...  
Keyword(s):  
Real Time ◽  
Digital Signal Processor ◽  
Ion Beam ◽  
Digital Signal ◽  
Heavy Ion ◽  
Real Time Control ◽  
Time Control ◽  
Heavy Ion Beam ◽  
Heavy Ion Beam Probe ◽  
Signal Processor

Real-Time Solution of Inverse Kinematics for 6R Robot Manipulators Using Digital Signal Processor

2013 ◽  
Vol 423-426 ◽  
pp. 2788-2791
Author(s):  
Lin Chen ◽  
Hai Hong Pan ◽  
Han Ling Mao
Keyword(s):  
Real Time ◽  
Digital Signal Processor ◽  
Inverse Kinematics ◽  
Robot Manipulators ◽  
Digital Signal ◽  
Central Processor ◽  
Real Time Control ◽  
End Effector ◽  
The Real ◽  
Signal Processor

It is a challenge to get real-time solutions for the inverse kinematics problem of 6R robot. In this study, a digital signal processor (DSP) was adopted as the central processor for the algorithm inverse kinematics. Based on it, the robot end-effector carried out the interpolation of point-to-point spatial straight line, and the inverse kinematics solving of 6R robot manipulators end-effector was achieved. The deflection variations of the 6 joints were acquired during the interpolation in a Cartesian coordinate. The results show that inverse Kinematics solution for each interpolation point only cost 0.06588 millisecond using DSP 6711. This hard structure can ensure the real-time performance of control for robot and content the real-time control performance expected of industrial manipulators.

Design of Embedded Numerical Control Platform for Carton Samplemaker

2010 ◽  
Vol 139-141 ◽  
pp. 2234-2238
Author(s):  
Jian Qun Liu ◽  
Ji Rong Wu ◽  
Dong Xu
Keyword(s):  
Real Time ◽  
Software Design ◽  
Digital Signal Processor ◽  
Digital Signal ◽  
Numerical Control ◽  
Actual Situation ◽  
Real Time Control ◽  
Time Control ◽  
Dual Core ◽  
Speed And Accuracy

As most controllers of the carton samplemaker using Industrial Personal Computer (IPC) architecture, its price is relatively expensive. Aiming at the actual situation of the high cost, low openness and big demand of the carton samplemaker, through the analysis of the control characteristics of it, the embedded Numerical Control (NC) platform based on the Advanced RISC Machines (ARM) and Digital Signal Processor (DSP) hardware architecture for carton samplemaker is designed. The overall framework of the platform and steps of the design are given in this paper. Windows CE embedded real-time operating system is adopted in the software design, and on this basis, the carton samplemaker applications is developed, which is mainly in charge of the motion control of the equipment and tasks management. The platform not only achieves the goals on real-time control, good speed and accuracy, but also has friendly operability. Finally, the introduction of the new dual-core chips gives a revelation on the future development in carton samplemaker.

A real-time control method-based simulation for high-speed trains on large-scale rail network

2017 ◽  
Vol 28 (10) ◽  
pp. 1750126 ◽  
Author(s):  
Yutong Liu ◽  
Chengxuan Cao ◽  
Yaling Zhou ◽  
Ziyan Feng
Keyword(s):  
Real Time ◽  
Traffic Flow ◽  
High Speed ◽  
Large Scale ◽  
Simulation Method ◽  
Real Time Control ◽  
Rail Network ◽  
Time Control ◽  
High Speed Trains ◽  
Rail Traffic

In this paper, an improved real-time control model based on the discrete-time method is constructed to control and simulate the movement of high-speed trains on large-scale rail network. The constraints of acceleration and deceleration are introduced in this model, and a more reasonable definition of the minimal headway is also presented. Considering the complicated rail traffic environment in practice, we propose a set of sound operational strategies to excellently control traffic flow on rail network under various conditions. Several simulation experiments with different parameter combinations are conducted to verify the effectiveness of the control simulation method. The experimental results are similar to realistic environment and some characteristics of rail traffic flow are also investigated, especially the impact of stochastic disturbances and the minimal headway on the rail traffic flow on large-scale rail network, which can better assist dispatchers in analysis and decision-making. Meanwhile, experimental results also demonstrate that the proposed control simulation method can be in real-time control of traffic flow for high-speed trains not only on the simple rail line, but also on the complicated large-scale network such as China’s high-speed rail network and serve as a tool of simulating the traffic flow on large-scale rail network to study the characteristics of rail traffic flow.

Real-time digital signal processor-based system for MHD mode identification in ISTTOK

2004 ◽  
Vol 75 (10) ◽  
pp. 4265-4267
Author(s):  
B. B. Carvalho ◽  
H. Fernandes ◽  
J. Sousa ◽  
C. A. F. Varandas
Keyword(s):  
Real Time ◽  
Digital Signal Processor ◽  
Digital Signal ◽  
Mode Identification ◽  
Signal Processor
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