Matlab-Based Embedded Controller Design for Robot

2010 ◽  
Vol 139-141 ◽  
pp. 2126-2131
Author(s):  
Yi Ning ◽  
Jun Feng Zhao
Keyword(s):  
Control System ◽  
Code Generation ◽  
Controller Design ◽  
Algorithm Design ◽  
Space Robot ◽  
System Stability ◽  
Design System ◽  
Development Environment ◽  
Embedded Control ◽  
Automatic Code

For highly complex embedded control systems, the use of traditional methods of design is very difficult to achieve satisfactory results. In a cooperative project of national 863 plans, the Matlab-based scheme in TDE (Total Development Environment) way was made to design the control system of free-flying space robot, an in-obit service satellite. It can overcome the shortcomings of traditional design to make greater system stability, improve the life of the equipment, speed up development and reduce development costs. In this paper, a development platform was built on Matlab for embedded control system of the manipulator onboard the free-flying space robot. The controller design and simulation was implemented on it. The entire development process is divided into algorithm design, system simulation, and automatic code generation. A test harness was created to test and verify the unit-under-test. The results of experiment show that Control accuracy of the simulation was satisfied with the practical requirements.

Merging and Splitting Petri Net Models within Distributed Embedded Controller Design

2013 ◽  
pp. 160-183 ◽  
Author(s):  
Luis Gomes ◽  
Anikó Costa ◽  
João Paulo Barros ◽  
Filipe Moutinho ◽  
Fernando Pereira
Keyword(s):  
Petri Nets ◽  
Petri Net ◽  
Code Generation ◽  
Controller Design ◽  
Output Place ◽  
Time Domains ◽  
Splitting Operation ◽  
Embedded Controller ◽  
Automatic Code ◽  
Property Verification

Design of distributed embedded controllers can benefit from the adoption of a model-based development attitude, where Petri nets modeling can provide support for a comprehensive specification and documentation of the system together with verification capabilities and automatic deployment into implementation platforms. This chapter presents a Petri nets-based development flow based on composition and decomposition of Petri net models, using Input-Output Place-Transition Petri nets (IOPT nets) as the underlying formalism, allowing reusability of models in new situations through a net addition operation, as well as partitioning of the model into components using a net splitting operation. Distributed embedded controllers are addressed adding the concept of time domains to IOPT nets. Finally, a tool chain framework is presented supporting the whole development process, from specification to implementation, including property verification, simulation, and automatic code generation for deployment into implementation platforms (considering hardware-based implementation and VHDL coding or software-oriented implementation and C coding).

Rapid Embedded Programming in the Mathworks Environment

2002 ◽  
Vol 2 (3) ◽  
pp. 237-241 ◽  
Author(s):  
Daniel Burns and ◽  
Thomas G. Sugar
Keyword(s):  
Code Generation ◽  
Engineering Students ◽  
Force Feedback ◽  
Controller Design ◽  
Computing System ◽  
Embedded Computing ◽  
Loop Control ◽  
Loop Control System ◽  
Embedded Computing System ◽  
Automatic Code

New, commercially available, automatic, code-generation tools are used in teaching and lab exercises to progress from controller design, to simulation, and finally to implementation on mechanical hardware. An embedded computing system consists of a dedicated, digital, electronic-processor that controls a system that interacts with the environment. Case studies highlighting a force-feedback joystick and motor servo control with encoder feedback are presented to illustrate laboratory exercises that teach mechanical engineering students hardware-in-the-loop control system design. Using these software tools, design iterations and multiple controllers are quickly simulated and downloaded to the actual hardware.

Automatic Generation of Software Interfaces for Hand-Tracking Devices

2015 ◽  
Author(s):  
Giorgio Colombo ◽  
Caterina Rizzi ◽  
Giancarlo Facoetti ◽  
Andrea Vitali
Keyword(s):  
Code Generation ◽  
Low Cost ◽  
Automatic Generation ◽  
Hand Tracking ◽  
Leap Motion ◽  
Software Module ◽  
Development Environment ◽  
Software Interfaces ◽  
Automatic Code ◽  
Tracking Devices

This paper presents a software module, named tracking plug-in, developed to automatically generate the source code of software interfaces for managing the interaction with low cost hand-tracking devices (e.g., Leap Motion and Intel Gesture Camera) and replicate/emulate manual operations usually performed to design custom-fit products, such medical devices and garments. The proposed solution is based on the Eclipse platform, a free integrated development environment (IDE), that allow us to manage the automatic code generation in a simple way after having defined the target application using a meta-model language, in our case the UML class diagram. First, we describe the background as well as the main problem, then, the software solution and adopted tools (i.e., Eclipse and Acceleo). Finally, the preliminary tests carried out for two applicative contexts (prosthetic and textile/clothing) are presented.

scholarly journals NEW DESIGN OF PLC-BASED ROBOTIC CONTROL SYSTEM FOR CONCRETE PRINTING IN BUILDING CONSTRUCTION

2021 ◽  
Vol 2021 (6) ◽  
pp. 5346-5352
Author(s):  
DANIEL KAJZR ◽  
◽  
JOSEF BROUSEK ◽  
TOMAS PETR ◽  
LEOS BERAN ◽  
...  
Keyword(s):  
Control System ◽  
Code Generation ◽  
Robotic Arm ◽  
Control Algorithms ◽  
Test Results ◽  
Robotic Control ◽  
Efficient System ◽  
Advantages And Disadvantages ◽  
Open Control ◽  
Automatic Code

This paper presents a new platform for the development of an open control system for a robotic arm designed for the 3D printing of buildings. This platform uses a very efficient system of automatic code generation which greatly simplifies the process of robotic arm synthesis and analysis while allowing the deployment of custom control algorithms. An experimental workplace, with a reduced and simplified robotic arm, has been developed for the purpose of testing the platform. The mechanical and electrical construction of this experimental workplace is explained. The control system platform is also introduced and data from the test results are included. Both the advantages and disadvantages are discussed at the end.

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