scholarly journals Software and Hardware Developments For a Mobile Manipulator Control

2008 ◽  
Vol 5 (1) ◽  
pp. 37
Author(s):  
F. Abdessemed ◽  
E. Monacelli
Keyword(s):  
Real Time ◽  
Mobile Manipulator ◽  
Real Time Control ◽  
Large Space ◽  
Time Control ◽  
Manipulator Arm ◽  
Software And Hardware ◽  
Free Environment ◽  
High Level ◽  
Manipulator Control

In this paper, we present the hardware and software architectures of an experimental real time control system of a mobile manipulator that performs tasks of manipulating objects in an environment of a large space. The mechanical architecture is a manipulator arm mounted on a mobile platform. In this work we show how one can implement an imbedded system, which includes the hardware and the software. The system makes use of a PC as the host and constitutes the high level layer. It is configured in such a way that it performs all the input-output interface operations; and is composed of different modules that constitute the software making up the required operations to be executed in a scheduling manner in order to meet the requirements of the real time control. In this paper, we also focus on the development of the generalized trajectory generation for the case of tasks where only one subsystem is considered to move and when the whole system is in permanent movement to achieve a particular task either in a free environment, or in presence of obstacles. 

Joint Self-Tuning With Cartesian Setpoints

1986 ◽  
Vol 108 (2) ◽  
pp. 146-150 ◽  
Author(s):  
P. G. Backes ◽  
G. G. Leininger ◽  
Chun-Hsien Chung
Keyword(s):  
Real Time ◽  
Control Method ◽  
Hybrid Control ◽  
Pole Placement ◽  
Real Time Control ◽  
Time Control ◽  
Self Tuning ◽  
Cause Of Error ◽  
Time Position ◽  
Manipulator Control

A joint coordinate self-tuning manipulator control method is presented which uses Cartesian setpoints. The method is capable of both position and hybrid control. Position and force errors are transformed from Cartesian coordinates to position and force errors at the joints. The position and force errors at each joint are combined into one hybrid error that is eliminated using pole-placement self-tuning. Real time position and hybrid control results are given. No prior knowledge of manipulator or load dynamics is required and real time control results show that the goal of consistent control with changing load dynamics is achieved. The major cause of error in position and hybrid control is the large friction effects in the joints.

scholarly journals Development of an Autonomous Quadrotor with a Robust Real-time Control: A Review on Modeling, Estimation, Control, and Hardware Aspects

2021 ◽  
Author(s):  
Mayank Goswami ◽  
Ankur Kumar ◽  
Pradnesh Chavan
Keyword(s):  
Control System ◽  
Real Time ◽  
System Integration ◽  
Estimation Methods ◽  
Software Components ◽  
Real Time Control ◽  
Complete Control ◽  
Time Control ◽  
Research Problems ◽  
Software And Hardware

The following report is a comprehensive discussion on the development of a resilient autonomous quadrotor equipped with a robust control mechanism for optimal performance. An introduction to quadrotor modeling and flight dynamics is provided first. The autopilot control and state estimation methods are then described from both software and hardware viewpoints. A review of PX4 autopilot control architecture is provided to comprehend a complete control system integration. It is followed by a survey of commonly used sensors, micro-controllers, actuators, and other hardware peripherals used in academic and commercial grade quadrotors, along with their architectural overview. Next, a brief discussion on the software components essential for a real-time implementation of the developed control system on the hardware is done. Finally, concluding remarks are made on each stage of quadcopter development, and potential research problems are forecasted.

Active coupling suppression and real-time control system design and implementation for three-axis electronic flight motion simulator

2017 ◽  
Vol 40 (4) ◽  
pp. 1352-1361
Author(s):  
Zhonghua Miao ◽  
Chenglei Wei ◽  
Zhiyuan Gao ◽  
Xuyong Wang
Keyword(s):  
Control System ◽  
Real Time ◽  
Hardware Implementation ◽  
Experimental Tests ◽  
Real Time Control ◽  
Control Software ◽  
Time Control ◽  
Motion Simulator ◽  
Suppression Method ◽  
Software And Hardware

Modelling of a three-axis electronic flight motion simulator with U-O-O structure is achieved in this paper, based on recursive Newton–Euler equations. To overcome the shortcomings of passive decoupling control methods, an active coupling torque suppression method is proposed using velocity internal feedback by analysing the influence of the coupling torque. Detailed control software and hardware implementation is given for the real-time control system. Experimental tests show the designed flight motion simulator system performs good dynamic and static performances.

scholarly journals Development of an Autonomous Quadrotor with a Robust Real-time Control: A Review on Modeling, Estimation, Control, and Hardware Aspects

2021 ◽  
Author(s):  
Mayank Goswami ◽  
Ankur Kumar ◽  
Pradnesh Chavan
Keyword(s):  
Control System ◽  
Real Time ◽  
System Integration ◽  
Estimation Methods ◽  
Software Components ◽  
Real Time Control ◽  
Complete Control ◽  
Time Control ◽  
Research Problems ◽  
Software And Hardware

The following report is a comprehensive discussion on the development of a resilient autonomous quadrotor equipped with a robust control mechanism for optimal performance. An introduction to quadrotor modeling and flight dynamics is provided first. The autopilot control and state estimation methods are then described from both software and hardware viewpoints. A review of PX4 autopilot control architecture is provided to comprehend a complete control system integration. It is followed by a survey of commonly used sensors, micro-controllers, actuators, and other hardware peripherals used in academic and commercial grade quadrotors, along with their architectural overview. Next, a brief discussion on the software components essential for a real-time implementation of the developed control system on the hardware is done. Finally, concluding remarks are made on each stage of quadcopter development, and potential research problems are forecasted.

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