Prediction-Correction Algorithm of Cubic B-Spline Curve Interpolation in Industrial Robot Control System Based on LinuxCNC

2018 ◽  
Author(s):  
Shi Bu-Hai ◽  
Lin Hai-Ming ◽  
Ding Chuan
Keyword(s):  
Control System ◽  
Robot Control ◽  
Industrial Robot ◽  
Correction Algorithm ◽  
B Spline ◽  
Spline Curve ◽  
Curve Interpolation ◽  
Robot Control System

Open Architecture of Robot Control System Based on PROFI-BUS

2009 ◽  
Vol 419-420 ◽  
pp. 581-584
Author(s):  
Xiao Dong Tan ◽  
Feng Tan ◽  
Kun Zhang ◽  
Bao Liang Li
Keyword(s):  
Control System ◽  
Real Time ◽  
Robot Control ◽  
Data Exchange ◽  
Modular Design ◽  
Industrial Robot ◽  
Open Architecture ◽  
Field Bus ◽  
Real Time System ◽  
Robot Control System

A PROFI-BUS based industrial robot control system is introduced from the viewpoint of both software and hardware. It is discussed about how to use PC technology and field-bus technology to design an open robot control system. The system adopts a three- layer structure, which is mainly configured with universal control devices, to realize a modular and universal design. A high-speed field-bus is designed for connecting servo system and IPC, to ensure real-time capability; another low-speed Field-bus is used to connect IPC and PLC, HMI, teaching panel and other devices for data exchange, while reducing the occupancy of system resources. The software system adopts the modular design with Windows NT and RTX, which fully exploits the powerful functions of Window NT system and meets the requirements of real-time system. This open structure greatly enhances the system's flexibility and openness.

Robot Control System ARS/A for Research

1990 ◽  
Vol 2 (5) ◽  
pp. 404-410 ◽  
Author(s):  
Kosei Kitagaki ◽  
◽  
Marasu Uchiyama ◽  
Keyword(s):  
Control System ◽  
Real Time ◽  
Robot Control ◽  
Industrial Robot ◽  
Host Computer ◽  
Open Architecture ◽  
Level Control ◽  
Robot System ◽  
C Language ◽  
Robot Control System

This paper presents an open architecture robot control system for lower level manipulator control such as motion control or force control. Basically, the system consists of three elements: an industrial robot manipulator called A-HAND, a servo computer with the motor driver units, and a host computer. The system is called ARS/A (Aoba Robot System for A-HAND). The robot and the servo computer are regarded as an independent robotic module with a standard interface to the host computer, from which it accepts a set of real time commands to control the robot. Any computer having an interface may be connected to the robotic module as a host computer. To design the set of real time commands is a crucial issue because it determines the capability and flexibility of the robot system. This paper proposes a set of real time commands which are needed for lower level control experiments. The set was found through trials. A real time monitor called MOS/A (Motor Operating System for A-HAND) to process the commands to control the robot are implemented on the servo computer. The MOS commands are defined as functions of a C language on the host computer. The C language is called ARC/A (Aoba Robot C Language for A-HAND) to have other robot control utility functions such as graphic simulation functions as well as the MOS functions. Sample programs show that ARC/A is an efficient programming tool for lower level control.

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