Low-Cost PLC-Based Control of a 2-DoF Purely Translational Parallel Robot

2011 ◽  
Vol 383-390 ◽  
pp. 1542-1548
Author(s):  
Zhi Bin Li
Keyword(s):  
Control System ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Parallel Robot ◽  
Conveyor Belt ◽  
Workspace Analysis ◽  
Translation Motion ◽  
Control System Architecture ◽  
Pick And Place Operation

This paper describes the design and implementation of a low-cost robot control system based on a Programmable Logic Controller (PLC). The robot is a 2-DoF (Degrees of Freedom) purely translational mechanism, which has potential application in food and electronics industry for high speed pick-and-place operation. Combined with a conveyor belt, it can make 3-DoF purely translation motion. In this paper, the inverse kinematics, forward kinematics, singularity, and workspace analysis are presented. The control system architecture and software design is also introduced. The prototype is exhibited at last.

A Control Method Research of Parallel Mechanisms

2012 ◽  
Vol 619 ◽  
pp. 51-55
Author(s):  
Heng Chen ◽  
Yan Bing Ni
Keyword(s):  
Control System ◽  
High Speed ◽  
Control Method ◽  
Low Cost ◽  
Parallel Robot ◽  
Joint Space ◽  
Linear Mapping ◽  
Single Step ◽  
Parallel Mechanisms ◽  
Motion Controller

This paper deals with a control method research and trajectory planning of parallel mechanisms. Control system scheme which is based on PC and motion controller has high openness, high degree of modularization and support for non-linear mapping relationship between operating space and joint space of parallel mechanisms with high flexibility and low cost. PC and NI motion controller and LabVIEW constituted hardware core and software platform of control system, respectively. Hardware technology of control system contained hardware selection, control circuit design and interface technology; software technology of control system developed application programs layer, core control layer and drive functions layer to realize core control functions of finding home, single-step or continuous movement and micro adjustment, which was based on hardware principle. Trajectory has been planned for a typical high speed parallel robot.

Modelling and Simulation of a Isoglide T3R1 Parallel Robot

2010 ◽  
Vol 166-167 ◽  
pp. 457-462
Author(s):  
Dan Verdes ◽  
Radu Balan ◽  
Máthé Koppány
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Practical Implementation ◽  
Medical Robots ◽  
The Past ◽  
And Control ◽  
Workspace Design ◽  
Human Systems

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

scholarly journals Trajectory optimization of the 6-degrees-of-freedom high-speed parallel robot based on B-spline curve

2019 ◽  
Vol 103 (1) ◽  
pp. 003685041988011
Author(s):  
Jiangping Mei ◽  
Fan Zhang ◽  
Jiawei Zang ◽  
Yanqin Zhao ◽  
Han Yan
Keyword(s):  
Trajectory Optimization ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Control Point ◽  
Parallel Robot ◽  
B Spline ◽  
Spline Curve ◽  
Deformation Problem ◽  
Point Subset ◽  
6 Degrees Of Freedom

According to the problem that the existing high-speed parallel robot cannot satisfy the operation requirements of non-planar industrial production line, a 6-degrees-of-freedom high-speed parallel robot is proposed to carry out the kinematic and dynamic analyses. Combining with the door-type trajectory commonly used by the parallel robot, it adopts 3-, 5-, and 7-time B-spline curve motion law to conduct the trajectory planning in operation space. Taking the average cumulative effect of joint jerky as the optimization target, a trajectory optimization method is proposed to improve the smoothness of robot end-effector motion with the selected motion law. Furthermore, to solve the deformation problem of the horizontal motion stage of the trajectory, a mapping model between the control point subset of B-spline and the motion point subset of trajectory is established. Based on the main diagonally dominant characteristic of the coefficient matrix, the trajectory deformation evaluation index is constructed to optimize the smoothness and minimum deformation of the robot motion trajectory. Finally, compared to without the optimization, the maximum robot joint jerk decreases by 69.4% and 72.3%, respectively, and the maximum torque decreases by 51.4% and 38.9%, respectively, under a suitable trajectory deformation.

scholarly journals Design of Airport Obstacle-Free Zone Monitoring UAV System Based on Computer Vision

Sensors ◽  
2020 ◽  
Vol 20 (9) ◽  
pp. 2475
Author(s):  
Liang Wang ◽  
Jianliang Ai ◽  
Li Zhang ◽  
Zhenlin Xing
Keyword(s):  
Computer Vision ◽  
High Speed ◽  
Degrees Of Freedom ◽  
High Reliability ◽  
Low Cost ◽  
Pid Algorithm ◽  
Free Zone ◽  
Speed Tracking ◽  
Kernel Correlation ◽  
Tracking Technology

In recent years, a rising number of incidents between Unmanned Aerial Vehicles (UAVs) and planes have been reported at airports and airfields. A design scheme for an airport obstacle-free zone monitoring UAV system based on computer vision is proposed. The system integrates the functions of identification, tracking, and expelling and is mainly used for low-cost control of balloon airborne objects and small aircrafts. First, a quadcopter dynamic model and 2-Degrees of Freedom (2-DOF) Pan/Tilt/Zoom (PTZ) model are analyzed, and an attitude back-stepping controller based on disturbance compensation is designed. Second, a low and slow small-target self-identification and tracking technology is constructed against a complex environment. Based on the You Only Look Once (YOLO) and Kernel Correlation Filter (KCF) algorithms, an autonomous target recognition and high-speed tracking plan with great robustness and high reliability is designed. Third, a PTZ controller and automatic aiming strategy based on Anti-Windup Proportional Integral Derivative (PID) algorithm is designed, and a simplified, automatic-aiming expelling device, the environmentally friendly gel ball blaster, which features high speed and high accuracy, is built. The feasibility and stability of the project can be verified through prototype experiments.

A Practical and Feasible Control System for Bifunctional Myoelectric Hand Prostheses

2010 ◽  
Vol 34 (2) ◽  
pp. 195-205 ◽  
Author(s):  
Naser Hamdi ◽  
Yazan Dweiri ◽  
Yousef Al-Abdallat ◽  
Tarek Haneya
Keyword(s):  
Developing Countries ◽  
Control System ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Muscular Activity ◽  
Mode Switching ◽  
Prosthetic Device ◽  
Dual Mode ◽  
Myoelectric Prostheses ◽  
Excellent Control

This paper presents an implementation of a practical and low-cost hardware-based control system for multifunctional myoelectric hand prostheses. The model utilizes a mode-switching technique in order to voluntarily control the operation of a dual-mode prosthetic device in two degrees of freedom: grasp/release and pronation/supination. This system was designed specifically to cater to the increasing needs of patients in developing countries, where myoelectric prostheses are scarce and extremely expensive. The design relied entirely on locally-available commercial components and aimed at allowing small prosthetics producers the freedom to utilize and modify the design according to their clients' preferences and requirements. Evaluation tests revealed excellent control and ability to execute basic hand and wrist functions even with short training periods, although results varied with the underlying level of muscular activity.

Control System Design for AC-DC Three-Degree-of-Freedom Hybrid Magnetic Bearing

2012 ◽  
Vol 150 ◽  
pp. 144-147 ◽  
Author(s):  
Wei Yu Zhang ◽  
Ying Ruan ◽  
Xiao Yan Diao ◽  
Huang Qiu Zhu
Keyword(s):  
Control System ◽  
System Design ◽  
High Speed ◽  
Manufacturing Industry ◽  
Block Diagram ◽  
Low Cost ◽  
Magnetic Bearing ◽  
Degree Of Freedom ◽  
Control System Design ◽  
Three Degree Of Freedom

To fulfil the objective of high speed, high precision and intelligence in the modern equipment and advanced manufacturing industry, the magnetic bearing is requested to have small volume, low cost and low consumption. In this paper, an AC-DC three-degree-of-freedom hybrid magnetic bearing (AC-DC-3DOF-HMB) is studied, which integrates radial bearing and axial bearing in one of the magnetic bearing. The configuration and principle of AC-DC-3DOF-HMB are expounded, and the mathematical models of suspension forces are given. Then based on the function block diagram of AC-DC-3DOF-HMB control system, its hardware and software configuration are designed. The experiment results show that the rotor can be suspended stably with three degrees of freedom and has a good performance in anti- interference, and the feasibility of the control system design can be verified.

scholarly journals Realization of Fast and Dexterous Tasks by a DD Parallel Robot Using Motor Back-drivability

2001 ◽  
Vol 13 (5) ◽  
pp. 554-560
Author(s):  
Doohyung Kim ◽  
◽  
Masaru Uchiyama
Keyword(s):  
Control System ◽  
High Speed ◽  
Parallel Robot ◽  
Control Algorithms ◽  
Torque Sensor ◽  
Compliance Control ◽  
Control Scheme

This paper presents the execution of very fast, complicated tasks with a high-speed accurate parallel robot we named HEXA. First, unified motion, force and compliance control scheme comprising several control algorithms are given. A key distinguishing feature of our model is control scheme, which does not use any force/torque sensors but uses the actuator backdrivability for this purpose. Hence we can ignore the weight and cost of the force/torque sensor. The motivation for this work is to show the usefulness of the versatile HEXA mechanism for applications in industry. Several experiments for complex, fast tasks, for example, the sequential peg-in-hole task on an inclined table, crank-turning, deburring and composite tasks, have been conducted using this control system to show its effectiveness.

scholarly journals Composition of Multiple D.O.F. Robot Control System Using a Parallel Processing Microcomputer

1990 ◽  
Vol 2 (3) ◽  
pp. 189-193
Author(s):  
Shigeki Sugano ◽  
Keyword(s):  
Control System ◽  
Parallel Processing ◽  
Software Design ◽  
High Speed ◽  
Robot Control ◽  
Degrees Of Freedom ◽  
The Body ◽  
Concurrent System ◽  
Parallel Connection ◽  
Multiple Degrees Of Freedom

In this paper, a method of composition for a multimicroprocessor robotic systems and a concrete example of a mobile anthropomorphic manipulator are discussed. There are many methods to compose multimicroprocessor systems for robots and complex mechatronic units. It is most advantageous for multiple degrees of freedom robots to introduce a concurrent system employing microcomputers designed on the premise of parallel connection, as it is easy to realize high speed and efficiency. In addition, hardware and software design as well as related debugging is very easy. A mobile anthropomorphic manipulator (WAM-9) with 7 d.o.f. in the arm, 16 d.o.f. in the hand and 3 d.o.f. in the body has been developed aimed at improving the robot dexterity. The control system of WAM-9 employs a 32-bit ""Transputer"" parallel processing microcomputer. This system includes about 20 transputers and is modeled after the human central nervous system.

DeltaBot: A New Cable-Based Ultra High Speed Robot

2003 ◽  
Author(s):  
Saeed Behzadipour ◽  
Robert Dekker ◽  
Amir Khajepour ◽  
Edmon Chan
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Manufacturing Industry ◽  
Design Procedure ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Manufacturing Cost ◽  
End Effector ◽  
Serial Manipulators

The growing needs for high speed positioning devices in the automated manufacturing industry have been challenged by robotic science for more than two decades. Parallel manipulators have been widely used for this purpose due to their advantage of lower moving inertia over the conventional serial manipulators. Cable actuated parallel robots were introduced in 1980’s to reduce the moving inertia even further. In this work, a new cable-based parallel robot is introduced. For this robot, the cables are used not only to actuate the end-effector but also to apply the necessary kinematic constraints to provide three pure translational degrees of freedom. In order to maintain tension in the cables, a passive air cylinder is used to push the end-effector against the stationary platform. In addition to low moving inertia, the new design benefits from simplicity and low manufacturing cost by eliminating joints from the robot’s mechanism. The design procedure and the results of experiments will be discussed in the following.

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