scholarly journals Design and Implementation of Inverse Kinematics and Motion Monitoring System for 6Dof Platform

2021 ◽  
Vol 11 (19) ◽  
pp. 9330
Author(s):  
Ming-Yen Wei
Keyword(s):  
Motion Control ◽  
Inverse Kinematics ◽  
Control Algorithms ◽  
Design And Implementation ◽  
Motion Control Card ◽  
Machine Interface ◽  
Rotor Angle ◽  
Measurement Software ◽  
Displacement Speed ◽  
High Degree

Six-axis motion platforms have a low contraction height and a high degree of freedom. First of all, the designed six-axis crank arm platform, including the motor, reducer, crank arm, link, platform support arm, and upper and lower platforms, can be designed for different bearing requirements. Secondly, it uses a coordinate transform and kinematics theory to derive each motor rotor angle. A set of platform data acquisition (DAQ) monitoring modules was established, and the LabVIEW programming language was used to write measurement software. The monitoring items include displacement, speed, and acceleration, which can be displayed on the screen and recorded by an industrial computer in real time and dynamically. Then, an RS-485 or RS-232 communication transmission interface was used to provide the control system with the related movement information. Finally, an industrial computer combined with a motion control card was used as a control kernel to realize the control algorithms, internet module function, I/O write and read signals, firmware integration, and human–machine interface message. The experimental results validate the appropriateness of the proposed method.

Motion Control Algorithms for Sensor-Equipped Robots

1987 ◽  
Vol 109 (4) ◽  
pp. 335-344 ◽  
Author(s):  
M. Shoham ◽  
Y. Koren
Keyword(s):  
Coordinate System ◽  
Motion Control ◽  
Inverse Kinematics ◽  
Sufficient Conditions ◽  
Design Stage ◽  
Control Algorithms ◽  
Target Point

This paper deals with the development of kinematic algorithms for the control of sensor-equipped robots. The kinematics is solved in the sensor coordinate system, which reduces the computation efforts, and allows the elimination of the first joint encoder. Simplification of the algorithms can be obtained when approximations are used to solve the inverse kinematics. Three control algorithms based on approximations are presented. However, with these algorithms, convergence to the target is not always guaranteed. A Theorem which specifies the sufficient conditions required for a trajectory to converge to a target point is proved. Based on this Theorem robot parameters can be selected in the design stage of the manipulator. This is illustrated for several types of manipulators.

Design and Implementation of a Precision CNC Turn-Mill Machining Center Controller

2014 ◽  
Vol 487 ◽  
pp. 601-605
Author(s):  
Ke Zheng Sun ◽  
Xue Feng Zhou ◽  
Xian Shuai Chen
Keyword(s):  
Control System ◽  
Software Architecture ◽  
Motion Control ◽  
Open Architecture ◽  
Interpolation Algorithm ◽  
Design And Implementation ◽  
Machining Center ◽  
Look Ahead ◽  
Motion Control Card ◽  
Mill Machining

This paper presents a novel open architecture for a Precision CNC Turn-Mill Machining Center control system based on PC and Motion Control Card. A CNC Turn-Mill machining center is introduced. The hardware and software architecture is designed based on the concept of modularization. The implementation of key modules is given out. A rough interpolation algorithm with look-ahead function is introduced to improve the machining efficacy. The engineering verification proves that the system can fully meet the expected demands and easy to use.

Effects of Dynamic Model Errors in Task-Priority Operational Space Control

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Paolo Di Lillo ◽  
Gianluca Antonelli ◽  
Ciro Natale
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Null Space ◽  
Control Algorithms ◽  
Model Errors ◽  
Operational Space ◽  
Dynamic Level ◽  
Concurrent Tasks ◽  
Modeling Errors

SUMMARY Control algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.

scholarly journals Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3673
Author(s):  
Stefan Grushko ◽  
Aleš Vysocký ◽  
Petr Oščádal ◽  
Michal Vocetka ◽  
Petr Novák ◽  
...  
Keyword(s):  
User Study ◽  
Haptic Feedback ◽  
Fundamental Aspect ◽  
Task Completion ◽  
Good Efficiency ◽  
Notification System ◽  
Movement Data ◽  
Novel Approach ◽  
Machine Interface ◽  
High Degree

In a collaborative scenario, the communication between humans and robots is a fundamental aspect to achieve good efficiency and ergonomics in the task execution. A lot of research has been made related to enabling a robot system to understand and predict human behaviour, allowing the robot to adapt its motion to avoid collisions with human workers. Assuming the production task has a high degree of variability, the robot’s movements can be difficult to predict, leading to a feeling of anxiety in the worker when the robot changes its trajectory and approaches since the worker has no information about the planned movement of the robot. Additionally, without information about the robot’s movement, the human worker cannot effectively plan own activity without forcing the robot to constantly replan its movement. We propose a novel approach to communicating the robot’s intentions to a human worker. The improvement to the collaboration is presented by introducing haptic feedback devices, whose task is to notify the human worker about the currently planned robot’s trajectory and changes in its status. In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose objective was to accurately recognise the goal position of the robot during its movement. Data collected during the experiment included both objective and subjective parameters. Statistically significant results of the experiment indicated that all the participants could improve their task completion time by over 45% and generally were more subjectively satisfied when completing the task with equipped haptic feedback devices. The results also suggest the usefulness of the developed notification system since it improved users’ awareness about the motion plan of the robot.

An Interface Design of Communication between PC104 and DSP Based on Dual-Port RAM

2011 ◽  
Vol 141 ◽  
pp. 198-202
Author(s):  
Bo Li ◽  
Qing Jian Liu ◽  
Zhi Feng Qiao ◽  
Jing Chuan Dong ◽  
Qing Liu
Keyword(s):  
Motion Control ◽  
Interface Design ◽  
High Speed ◽  
Storage Unit ◽  
Control Card ◽  
Motion Control Card ◽  
Communication Method ◽  
Industrial Pc

This paper focus on a motion control card based on DSP, designed an interface communication between DSP and industrial PC. After a contrast about several methods of communication, this interface take the Dual-port RAM as the final way. This communication method regard the DRAM as the sharing storage unit, use the semaphores of the DRAM chip to prevent visiting the same address at same time on boths port and achieve the high speed communication between DSP and PC104.

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