Motion Control System Design of a Humanoid Robot Based on Stereo Vision

2011 ◽  
Vol 55-57 ◽  
pp. 877-880
Author(s):  
Qin Jun Du ◽  
Chao Sun ◽  
Xing Guo Huang
Keyword(s):  
Control System ◽  
Real Time ◽  
Motion Control ◽  
Visual Information ◽  
Humanoid Robot ◽  
Vision System ◽  
The Body ◽  
Real Time Control ◽  
Motion Control System ◽  
Time Motion

Vision is an important means of the humanoid robot to get external environmental information; vision system is an important part of humanoid robot. The system of a humanoid robot with the functions of visual perception and object manipulation is very complex because the body of the humanoid robot possesses many joint units and sensors. Two computers linked by Memolink communication unit is adopted to meet the needs of real time motion control and visual information processing tasks. The motion control system included coordination control computer, the distributed DSP joint controllers, DC motor drivers and sensors. Linux and real-time RT-Linux OS are used as the operating system to achieve the real-time control capability.

Motion Control of 6-DOF Manipulator Based on EtherCAT

2018 ◽  
Vol 22 (4) ◽  
pp. 415-428 ◽  
Author(s):  
Nannan Li ◽  
Hongbin Ma ◽  
Qing Fei ◽  
Hao Zhou ◽  
Shaoke Li ◽  
...  
Keyword(s):  
Control System ◽  
Open Source ◽  
Real Time ◽  
Motion Control ◽  
Trajectory Planning ◽  
Communication Process ◽  
Planning Problem ◽  
Motion Control System ◽  
The Real ◽  
Time Motion

We introduce a real-time motion control system that uses the EtherCAT protocol and apply it to a manipulator with six degrees of freedom. The complexity of a multi-joint manipulator leads to higher requirements for synchronous and real-time performance. EtherCAT technology can greatly improve the performance in terms of accuracy, speed, capability, and band width in industrial control, which is crucial in our robot projects. In this paper, we discuss a servo motion control system based on EtherCAT using IgH as the open-source master station. A Linux operating system is adopted because of the advantages of open-source, high-efficiency, and high-stability operation as well as multi-platform support, which provide more flexibility, freedom, and extendability to developers. Considerable research has been conducted to explore EtherCAT technologies, completely implementing home-made codes with the aid of open-source libraries, debugging the master-slave communication process, and testing the resulting motion controller running on Linux or POSIX-compatible operating systems. To improve the real-time response of servo control, a real-time Xenomai kernel has been compiled, adopted, and tested, and it showed significant enhancement of the real time of a servo motion control system. Furthermore, we explore trajectory planning and inverse kinematic solutions. A trajectory planning method based on B-spline interpolation of three degrees, which makes each part of the trajectory planning curve have relative independence and continuity, is proposed for the kinematic trajectory planning problem in Cartesian space. A coordinate system is established using the modified D-H parameters method to obtain the inverse kinematics of the manipulator. The simulation and experimental results show that the calculation speed of inverse solutions is excellent and the motion of the manipulator is continuous and smooth.

Research on software synchronization method of real-time ethernet distributed motion control system

2019 ◽  
Vol 39 (5) ◽  
pp. 904-916
Author(s):  
Zhengyu Huang ◽  
Lingyu Chen ◽  
Lianchao Zhang ◽  
Shixun Fan ◽  
Dapeng Fan
Keyword(s):  
Control System ◽  
Real Time ◽  
Motion Control ◽  
Key Factors ◽  
Motion Control System ◽  
Content Type ◽  
Factors Affecting ◽  
Synchronization Method ◽  
Factors Influencing ◽  
Synchronization Performance

Purpose This paper aims to analyze the key factors influencing the synchronization performance of distributed motion control system and to improve the synchronization performance for peripherals control of this system. Design/methodology/approach This paper deals with the software synchronization problems of distributed motion control system based on real-time Ethernet. First, combined with communication and control tasks, the key factors affecting synchronization performance of system are analyzed. Then, aiming at key factors and considering the synchronization of system bus, protocol conversion and task scheduling, a software synchronization method based on CANopen protocol and real-time Ethernet is proposed. Finally, the feasibility of this method is verified by establishing distributed motion control system and testing the synchronization performance of terminal control signals of slaves. Findings Based on this method, the results show that the synchronization accuracy for peripherals control of all slaves could be about 100 ns. Practical implications This research provides high-precision synchronization method, which could lay a foundation for the application of distributed motion control system in the field of assembly automation, such as multi-axis assembly robots control. Originality/value In distributed motion control system, many factors affect the synchronization performance. At present, there is no synchronization method that could comprehensively consider these factors. This paper not only analyzes the key factors influencing the synchronization performance of system but also proposes a synchronization method. Therefore, the method proposed in this paper has certain theoretical value and engineering significance.

scholarly journals Parallel control model for navigation tasks on service robots

2021 ◽  
Vol 2135 (1) ◽  
pp. 012002
Author(s):  
Holman Montiel ◽  
Fernando Martínez ◽  
Fredy Martínez
Keyword(s):  
Motion Control ◽  
Visual Information ◽  
Visual Memory ◽  
Vision System ◽  
Interaction Model ◽  
Service Robots ◽  
Service Robot ◽  
Human Beings ◽  
Real Time Control ◽  
Parallel Control

Abstract Autonomous mobility remains an open research problem in robotics. This is a complex problem that has its characteristics according to the type of task and environment intended for the robot’s activity. Service robotics has in this sense problems that have not been solved satisfactorily. These robots must interact with human beings in environments designed for human beings, which implies that one of the basic sensors for structuring motion control and navigation schemes are those that replicate the human optical sense. In their normal activity, robots are expected to interpret visual information in the environment while following a certain motion policy that allows them to move from one point to another in the environment, consistent with their tasks. A good optical sensing system can be structured around digital cameras, with which it can apply visual identification routines of both the trajectory and its environment. This research proposes a parallel control scheme (with two loops) for the definition of movements of a service robot from images. On the one hand, there is a control loop based on a visual memory strategy using a convolutional neural network. This system contemplates a deep learning model that is trained from images of the environment containing characteristic elements of the navigation environment (various types of obstacles and different cases of free trajectories with and without navigation path). To this first loop is connected in parallel a second loop in charge of defining the specific distances to the obstacles using a stereo vision system. The objective of this parallel loop is to quickly identify the obstacle points in front of the robot from the images using a bacterial interaction model. These two loops form an information feedback motion control framework that quickly analyzes the environment and defines motion strategies from digital images, achieving real-time control driven by visual information. Among the advantages of our scheme are the low processing and memory costs in the robot, and the no need to modify the environment to facilitate the navigation of the robot. The performance of the system is validated by simulation and laboratory experiments.

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