Based on a Microcontroller the Real-Time Control System Design of Manipulator of Multiple Degrees of Freedom

2014 ◽  
Vol 722 ◽  
pp. 213-216
Author(s):  
Rui Yong Duan ◽  
Ji Ling Yan
Keyword(s):  
Control System ◽  
Real Time ◽  
Degrees Of Freedom ◽  
Time Synchronization ◽  
Synchronization Control ◽  
Control System Design ◽  
Real Time Control ◽  
Multiple Degrees Of Freedom ◽  
Time Control ◽  
Wireless Transmitter

Manipulator of multiple degrees of freedom has been widely used in all kinds of rescue and exploring robots. This paper regard a kind of 6 DOF manipulator controller as the design object.The data acquisition for WDD35D4 sensors is carried by the C8051F020 microcontroller and sent through a wireless transmitter NRF905 after encrypted.Then the wireless transmitter NRF905 of the manipulator receives decryption. Through data processing and the steering gear adjustment, the angle of linear potentiometer corresponds to the angle of steering by 1-1. Then it drives the manipulator to work out and simulate the same motion of mechanical arm controller, and make real-time synchronization control.

Real-time control system design for complex controlled plants

1995 ◽  
Author(s):  
N Coleman ◽  
A Paz ◽  
M DeVito ◽  
G Papanagopoulos ◽  
T-JLin, Yu, C-F
Keyword(s):  
Control System ◽  
System Design ◽  
Real Time ◽  
Control System Design ◽  
Real Time Control ◽  
Time Control

A New Flexible Rapid Thermal Processing System

1995 ◽  
Vol 389 ◽  
Author(s):  
K. C. Saraswat ◽  
Y. Chen ◽  
L. Degertekin ◽  
B. T. Khuri-Yakub
Keyword(s):  
Control System ◽  
Real Time ◽  
Processing System ◽  
Process Conditions ◽  
Temperature Uniformity ◽  
Real Time Control ◽  
Wafer Temperature ◽  
Time Control ◽  
Wide Range ◽  
Optical Flux

ABSTRACTA highly flexible Rapid Thermal Multiprocessing (RTM) reactor is described. This flexibility is the result of several new innovations: a lamp system, an acoustic thermometer and a real-time control system. The new lamp has been optimally designed through the use of a “virtual reactor” methodology to obtain the best possible wafer temperature uniformity. It consists of multiple concentric rings composed of light bulbs with horizontal filaments. Each ring is independently and dynamically controlled providing better control over the spatial and temporal optical flux profile resulting in excellent temperature uniformity over a wide range of process conditions. An acoustic thermometer non-invasively allows complete wafer temperature tomography under all process conditions - a critically important measurement never obtained before. For real-time equipment and process control a model based multivariable control system has been developed. Extensive integration of computers and related technology for specification, communication, execution, monitoring, control, and diagnosis demonstrates the programmability of the RTM.

Real Time, Near-Optimal Trajectory Planning of an Omni-Directional Vehicle

2001 ◽  
Author(s):  
Tamás Kalmár-Nagy ◽  
Pritam Ganguly ◽  
Raffaello D’Andrea
Keyword(s):  
Real Time ◽  
Optimal Trajectory ◽  
Degrees Of Freedom ◽  
Dynamic Environments ◽  
Real Time Control ◽  
Uncertain Environments ◽  
Time Control ◽  
Innovative Method ◽  
Optimal Trajectory Planning ◽  
Three Degrees Of Freedom

Abstract In this paper, we discuss an innovative method of generating near-optimal trajectories for a robot with omni-directional drive capabilities, taking into account the dynamics of the actuators and the system. The relaxation of optimality results in immense computational savings, critical in dynamic environments. In particular, a decoupling strategy for each of the three degrees of freedom of the vehicle is presented, along with a method for coordinating the degrees of freedom. A nearly optimal trajectory for the vehicle can typically be calculated in less than 1000 floating point operations, which makes it attractive for real-time control in dynamic and uncertain environments.

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