Integrated Motion Control of Path Tracking and Servo Control for an Automated Guided Vehicle

2011 ◽  
Vol 47 (03) ◽  
pp. 43 ◽  
Author(s):  
Xing WU
Keyword(s):  
Motion Control ◽  
Path Tracking ◽  
Servo Control ◽  
Automated Guided Vehicle

Design of Plane Magnetic Field Image Drawing System Based on PLC Motion Control

2014 ◽  
Vol 525 ◽  
pp. 282-286
Author(s):  
Jia Xin You ◽  
Hui Min Liang ◽  
Kun Zhang ◽  
Guo Fu Zhai
Keyword(s):  
Magnetic Field ◽  
Permanent Magnet ◽  
Motion Control ◽  
Fem Simulation ◽  
Servo Control ◽  
Programmable Logic ◽  
Magnetic Powder ◽  
Fem Model ◽  
Drawing System ◽  
The Magnetic Field

The image of magnetic field is traditionally obtained by spreading magnetic powder manually or by sparse arrays of magnetic needles, obtaining the images of the magnetic field in different permanent magnet shapes and do repeated tests on the permanent magnet are in need. Based on programmable logic controller (PLC) motion control, the servo control and mechanical system have been built, the control strategy is discussed and the software is programmed. 2D FEM model of a test permanent magnet bar is built. Compared with the FEM simulation results, the system has achieved the goal that spreading magnetic powder quickly and evenly in the appointed area.

Motion Control of an Omni-Directional Walker for Walking Support

2013 ◽  
pp. 20-28
Author(s):  
Renpeng Tan ◽  
Shuoyu Wang ◽  
Yinlai Jiang ◽  
Kenji Ishida ◽  
Masakatsu G. Fujie
Keyword(s):  
Adaptive Control ◽  
Motion Control ◽  
Control Method ◽  
Center Of Gravity ◽  
Path Tracking ◽  
Reference Trajectory ◽  
Tracking Errors ◽  
Directed Movement ◽  
Load Change

With the increase in the percentage of the population defined as elderly, increasing numbers of people suffer from walking disabilities due to illness or accidents. An omni-directional walker (ODW) has been developed that can support people with walking disabilities and allow them to perform indoor walking. The ODW can identify the user’s directional intention based on the user’s forearm pressures and then supports movement in the intended direction. In this chapter, a reference trajectory is generated based on the intended direction in order to support directed movement. The ODW needs to follow the generated path. However, path tracking errors occur because the center of gravity (COG) of the system shifts and the load changes due to user`s pressure. An adaptive control method is proposed to deal with this issue. The results of simulations indicate that the ODW can accurately follow the user’s intended direction by inhibiting the influence of COG shifts and the resulting load change. The proposed scheme is feasible for supporting indoor movement.

Study on Track Control to the Multiple Degrees of Freedom Mechanical Arm of the Sampling Machine for Coal at Railway Carriage

2012 ◽  
Vol 542-543 ◽  
pp. 963-967
Author(s):  
Zhi Xue Tong ◽  
Li Chen Shi ◽  
Jing Yang ◽  
Li Gang Zhang
Keyword(s):  
Motion Control ◽  
Intelligent Control ◽  
Hydraulic System ◽  
Degrees Of Freedom ◽  
Optimization Method ◽  
Hydraulic Press ◽  
Servo Control ◽  
Multiple Degrees Of Freedom ◽  
Servo Control System ◽  
Set Up

The multiple degrees of freedom mechanical arm of sampling machine for coal at railway carriage is driven by hydraulic press. It is a kind of joint. During working, the sampling head not only keeps in its poses, but also moves along a straight path. The mechanical arm’s motion is resolved into three independent motion systems, foundation rotation, straight motion of 3 degrees of freedom kinematics chain, and servo control system of the sampling head. A group of motion equations is set up. According to the reversion theory and optimization method, the motion control model is built up in order to reappear the motion track. The method is efficient to solve the motion control problem. And the result of driving curve is more suitable for the hydraulic system. This method is useful for motion intelligent control of different kinds of joint manipulator.

scholarly journals Vision Servo Motion Control and Error Analysis of a CoplanarXXYStage for Image Alignment Motion

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Hau-Wei Lee ◽  
Chien-Hung Liu
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
Servo Control ◽  
Image Alignment ◽  
Work Piece ◽  
Alignment Algorithm ◽  
Alignment System ◽  
Vision Servo ◽  
Smart Mobile ◽  
Touch Panels

In recent years, as there is demand for smart mobile phones with touch panels, the alignment/compensation system of alignment stage with vision servo control has also increased. Due to the fact that the traditional stacked-typeXYθstage has cumulative errors of assembly and it is heavy, it has been gradually replaced by the coplanar stage characterized by three actuators on the same plane with three degrees of freedom. The simplest image alignment mode uses two cameras as the equipments for feedback control, and the work piece is placed on the working stage. The work piece is usually engraved/marked. After the cameras capture images and when the position of the mark in the camera is obtained by image processing, the mark can be moved to the designated position in the camera by moving the stage and using alignment algorithm. This study used a coplanarXXYstage with 1 μm positioning resolution. Due to the fact that the resolution of the camera is about 3.75 μm per pixel, thus a subpixel technology is used, and the linear and angular alignment repeatability of the alignment system can achieve 1 μm and 5 arcsec, respectively. The visual servo motion control for alignment motion is completed within 1 second using the coplanarXXYstage.

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