Design of Embedded Controller with Flexible Programming for Industrial Robot

2013 ◽  
Vol 457-458 ◽  
pp. 1390-1395
Author(s):  
Zheng Dong Wang ◽  
Kai He ◽  
Hai Tao Fang ◽  
Ru Xu Du
Keyword(s):  
High Performance ◽  
Spline Interpolation ◽  
Industrial Robot ◽  
Low Cost ◽  
Real Time Control ◽  
Time Control ◽  
Code Language ◽  
Embedded Controller ◽  
G Code ◽  
S Curve

This paper presents an embedded controller of low cost and high performance for industrial robot. The ARM microprocessor is chosen as the main controller for the processor. Based on the 7-segment cubic spline interpolation algorithm, a real-time control for the robot is implemented. This proposed trajectory method can perfectly generates speed S-curve shape for a start-stop process of the robot. In this article a programming language, G-code, is developped for the robots motion control by using the editing interface we designed specially on PC platform. With all the features for 2-4 degree of freedom robot application, the editing interface has been developed for editing and compiling G-code, which can be downloaded into the microprocessor with the custom communication protocol through communication interface. The programming method of the G-code language is easy to learn and use for the non-professional users. The paper describes the design and implementation in detail for the controller, which was validated on our designed SCARA robot, and it worked reliably.

The Design of the Anti-Rolling Tank Control System Based on CAN-Bus

2013 ◽  
Vol 373-375 ◽  
pp. 1466-1471
Author(s):  
Xin Xin Chen ◽  
Kai Jiang ◽  
Ya Wei Tang
Keyword(s):  
Real Time ◽  
High Performance ◽  
Control Algorithm ◽  
Can Bus ◽  
High Strength ◽  
Real Time Control ◽  
Time Data ◽  
Time Control ◽  
Embedded Controller ◽  
Complex Algorithm

As the anti-rolling tank controller based on PLC is unable to fulfill the high strength of calculation of the automatic real-time control algorithm, which leads to the limitation of anti-rolling effect, this paper proposes a distributed embedded controller based on CAN bus communication. The controller uses a high-performance ARM chip as the main chip to meet the complex algorithm calculation requirements. For CAN bus communication between the distributed modules, the system is simple and reliable. Distributed embedded controller consists of the center controller, the IO controller and the communication adapter whose hardware design and software design are proposed in this paper, and achieves the acquisition of real-time data of ships status information and intelligent control algorithm. Through simulation and bench simulation experiments, the controller can achieves the excellent anti-rolling effect. The distributed controller architecture is simple and easy to expand and spread to various tonnages of real ships.

DARTS: a low-cost high-performance FPGA implemented real-time control platform for adaptive optics

2005 ◽  
Author(s):  
S. J. Goodsell ◽  
N. A. Dipper ◽  
D. Geng ◽  
R. M. Myers ◽  
C. D. Saunter
Keyword(s):  
Real Time ◽  
Adaptive Optics ◽  
High Performance ◽  
Low Cost ◽  
Real Time Control ◽  
Time Control

Wavelet Transform Based Feature Extraction for EEG Signal Classification

2021 ◽  
Vol 20 ◽  
pp. 199-206
Author(s):  
Seda Postalcioglu
Keyword(s):  
Wavelet Transform ◽  
High Performance ◽  
Feature Vector ◽  
Fast Response ◽  
Eeg Signal ◽  
Real Time Control ◽  
Time Control ◽  
Band Power ◽  
Performance Rate

This study focused on the classification of EEG signal. The study aims to make a classification with fast response and high-performance rate. Thus, it could be possible for real-time control applications as Brain-Computer Interface (BCI) systems. The feature vector is created by Wavelet transform and statistical calculations. It is trained and tested with a neural network. The db4 wavelet is used in the study. Pwelch, skewness, kurtosis, band power, median, standard deviation, min, max, energy, entropy are used to make the wavelet coefficients meaningful. The performance is achieved as 99.414% with the running time of 0.0209 seconds

scholarly journals An On-Line Low-Cost Irradiance Monitoring Network with Sub-Second Sampling Adapted to Small-Scale PV Systems

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3405 ◽  
Author(s):  
Manuel Espinosa-Gavira ◽  
Agustín Agüera-Pérez ◽  
Juan González de la Rosa ◽  
José Palomares-Salas ◽  
José Sierra-Fernández
Keyword(s):  
Sensor Networks ◽  
Low Cost ◽  
Monitoring Network ◽  
Absolute Error ◽  
Small Scale ◽  
Photovoltaic Systems ◽  
Real Time Control ◽  
Short Term ◽  
Time Control ◽  
Cloud Motion

Very short-term solar forecasts are gaining interest for their application on real-time control of photovoltaic systems. These forecasts are intimately related to the cloud motion that produce variations of the irradiance field on scales of seconds and meters, thus particularly impacting in small photovoltaic systems. Very short-term forecast models must be supported by updated information of the local irradiance field, and solar sensor networks are positioning as the more direct way to obtain these data. The development of solar sensor networks adapted to small-scale systems as microgrids is subject to specific requirements: high updating frequency, high density of measurement points and low investment. This paper proposes a wireless sensor network able to provide snapshots of the irradiance field with an updating frequency of 2 Hz. The network comprised 16 motes regularly distributed over an area of 15 m × 15 m (4 motes × 4 motes, minimum intersensor distance of 5 m). The irradiance values were estimated from illuminance measurements acquired by lux-meters in the network motes. The estimated irradiances were validated with measurements of a secondary standard pyranometer obtaining a mean absolute error of 24.4 W/m 2 and a standard deviation of 36.1 W/m 2 . The network was able to capture the cloud motion and the main features of the irradiance field even with the reduced dimensions of the monitoring area. These results and the low-cost of the measurement devices indicate that this concept of solar sensor networks would be appropriate not only for photovoltaic plants in the range of MW, but also for smaller systems such as the ones installed in microgrids.

scholarly journals HIL evaluation of control unit in grid-tied coverters

2016 ◽  
Vol 20 (suppl. 2) ◽  
pp. 393-406 ◽  
Author(s):  
Vlado Porobic ◽  
Evgenije Adzic ◽  
Milan Rapaic
Keyword(s):  
Power Electronics ◽  
High Performance ◽  
Control Unit ◽  
Active Filters ◽  
Design Tool ◽  
Operating Conditions ◽  
Real Time Control ◽  
Time Control ◽  
Power Electronics Converters ◽  
Grid Connected Converters

Hardware-in-the-Loop (HIL) emulation is poised to become unsurpassed design tool for development, testing, and optimization of real-time control algorithms for grid connected power electronics converters for distributed generation, active filters and smart grid applications. It is strongly important to examine and test how grid connected converters perform under different operating conditions including grid disturbances and faults. In that sense, converter?s controller is a key component responsible for ensuring safe and high-performance operation. This paper demonstrates an example how ultra-low latency and high fidelity HIL emulator is used to easily, rapidly and exhaustively test and validate standard control strategy for grid connected power electronics converters, without need for expensive hardware prototyping and laboratory test equipment.

A Low Cost Fault-Tolerant Multiprocessor System for Real-Time Control

1986 ◽  
Vol 19 (13) ◽  
pp. 113-117
Author(s):  
J.J. Serrano ◽  
C. Cebrián ◽  
J. Vila ◽  
R. Ors
Keyword(s):  
Real Time ◽  
Fault Tolerant ◽  
Low Cost ◽  
Multiprocessor System ◽  
Real Time Control ◽  
Time Control

Translation + Pendaphonics = Movement Modulated Media

Leonardo ◽  
2012 ◽  
Vol 45 (4) ◽  
pp. 322-329 ◽  
Author(s):  
Byron Lahey ◽  
Winslow Burleson ◽  
Elizabeth Streb
Keyword(s):  
High Resolution ◽  
Real Time ◽  
Low Cost ◽  
Vertical Wall ◽  
State University ◽  
Arizona State University ◽  
Motion Sensing ◽  
Real Time Control ◽  
Projected Image ◽  
Time Control

Translation is a multimedia dance performed on a vertical wall filled with the projected image of a lunar surface. Pendaphonics is a low-cost, versatile, and robust motion-sensing hardware-software system integrated with the rigging of Translation to detect the dancers' motion and provide real-time control of the virtual moonscape. Replacing remotely triggered manual cues with high-resolution, real-time control by the performers expands the expressive range and ensures synchronization of feedback with the performers' movements. This project is the first application of an ongoing collaboration between the Motivational Environments Research Group at Arizona State University (ASU) and STREB Extreme Action Company.

Evaluation of a Low-Cost Microcontroller for Real-Time Control Education and Prototyping

2014 ◽  
Author(s):  
Ryan W. Krauss
Keyword(s):  
Feedback Control ◽  
Real Time ◽  
Closed Loop ◽  
Low Cost ◽  
Serial Communication ◽  
Real Time Control ◽  
Time Control ◽  
Active User ◽  
Bode Plots ◽  
Control Education

Arduino microcontrollers are popular, low-cost, easy-to-program, and have an active user community. This paper seeks to quantitatively assess whether or not Arduinos are a good fit for real-time feedback control experiments and controls education. Bode plots and serial echo tests are used to assess the use of Arduinos in two scenarios: a prototyping mode that involves bidirectional real-time serial communication with a PC and a hybrid mode that streams data in real-time over serial. The closed-loop performance with the Arduino is comparable to that of another more complicated and more expensive microcontroller for the plant considered. Some practical tips on using an Arduino for real-time feedback control are also given.

scholarly journals Application of the Novint Falcon haptic device as an actuator in real-time control

2013 ◽  
Vol 4 (3) ◽  
Author(s):  
Daniel J. Block ◽  
Mark B. Michelotti ◽  
Ramavarapu S. Sreenivas
Keyword(s):  
Embedded System ◽  
High Speed ◽  
Force Feedback ◽  
Low Cost ◽  
Small Scale ◽  
Input Device ◽  
Real Time Control ◽  
Modeling And Control ◽  
Time Control ◽  
Viable Solution

AbstractThis paper describes the development of an embedded system whose purpose is to control the Novint Falcon as a robot, and to develop a control experiment that demonstrates the use the Novint Falcon as a robotic actuator. The Novint Falcon, which is a PC input device, is “haptic” in the sense that it has a force feedback component. Its relatively low cost compared with other platforms makes it a good candidate for academic application in robot modeling and control. An embedded system is developed to interface with the multiple motors and sensors present in the Novint Falcon, which is subsequently used to control three independent Novint Falcons for a “ballon- plate” experiment. The results show that the device is a viable solution for high-speed actuation of small-scale mechanical systems.

Sign in / Sign up

Export Citation Format

Share Document