Implementation of Robot Control Algorithms by Real-Time Control System

2015 ◽  
Vol 18 ◽  
pp. 112-119 ◽  
Author(s):  
Viliam Fedak ◽  
Frantisek Durovsky ◽  
Robert Uveges ◽  
Karol Kyslan ◽  
Milan Lacko
Keyword(s):  
Control System ◽  
Real Time ◽  
Robot Control ◽  
Control Algorithm ◽  
Industrial Robot ◽  
Angular Position ◽  
Control Algorithms ◽  
Real Time Control ◽  
Frequency Converters ◽  
Time Control

The paper deals with development and implementation of the direct and inverse kinematics to control of 6 DOF industrial robot SEF-ROBOTER SR25 by a real time control system. To obtain the angular position of each joint an iterative algorithm is applied that is developed in the Simulink program. This solution creates a basis for real time control of the robot drives utilizing features of SIEMENS SINAMICS family of frequency converters. The developed control system presents a universal platform enabling to debug any robot control algorithm and also easy to change a desired trajectory of the end effector. The equipment is suitable for testing different trajectories of the robot and is suitable also for educational purposes.

The Design of Real-Time Control System Based on Single-Inverted Pendulum

2013 ◽  
Vol 850-851 ◽  
pp. 553-556
Author(s):  
Qun Yong Ou
Keyword(s):  
Control System ◽  
Control Problem ◽  
Real Time ◽  
Linear Model ◽  
Inverted Pendulum ◽  
Control Algorithms ◽  
Control Board ◽  
Real Time Control ◽  
Control Software ◽  
Time Control

An inverted pendulum is a classic control problem and is widely used as a benchmark for testing various control algorithms. First, this paper analyse the dynamic and non-linear model of the inverted pendulum, then focus on the real-time control of the inverted pendulum, we developed real-time control software for the single-stage inverted pendulum by using Visual C++ 2010, its mainly operate API functions to control board and implement various control algorithms.

Research on Real-Time Performance of the Distributed Control System Based on RTLinux

2014 ◽  
Vol 945-949 ◽  
pp. 1372-1375
Author(s):  
Peng Zhang ◽  
Qin Guo ◽  
Bin Wang
Keyword(s):  
Control System ◽  
Real Time ◽  
Robot Control ◽  
Real Time Control ◽  
Control Effect ◽  
The Real ◽  
Time Performance ◽  
Time Control ◽  
Testing Experiment ◽  
Time Systems

Through the analysis of RTLinux source code and real-time performance of various testing experiment on the RTLinux, and its application in a distributed robot control system using CAN bus, realize the real-time control of robot joints. Write the code of real-time module on RTLinux, analyzing the real-time performance using related kernel time testing function. Under Linux using QT write user interface for robot control, running on the Linux user space. The interface program and the real-time program communicate via RT-FIFO. Specify the location of each robot joint in the interface program, compared with the feedback from the actual joint position trajectory, evaluate the control effect of real-time systems.

Real-time FEM Control System for Connected Piezoelectric Actuators

2000 ◽  
Vol 12 (2) ◽  
pp. 172-179
Author(s):  
Daigoro Isobe ◽  
◽  
Hiroshi Nakamura ◽  
Ryuta Shimizu ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Finite Elements ◽  
Real Time ◽  
Control Algorithm ◽  
Piezoelectric Actuators ◽  
Real Time Control ◽  
Time Control ◽  
Control Schemes ◽  
In Series ◽  
Realtime Control

In this paper, the Finite Element Method (FEM) and the previously proposed inverse theory for bimorph piezoelectric actuators are applied into a real time control algorithm of connected piezoelectric actuators. Most control schemes handle an entire system in series, which becomes a drawback when some elements lose their function in a higher redundant system. On the other hand, the FEM can handle the system in parallel by subdividing it into discrete finite elements, and can cope with flexibility in the change of form and material properties. Noncompatible finite elements are used to express the actuators in the control algorithm, and empirical formulae considering time-dependent characteristics such as creep and residual strain, are also implemented. A real-time FEM control system, which consists of a PC, a bipolar DC unit and a signal-distributing controller, is developed. The system is verified by experiments on quasi-static displacement control of connected piezoelectric actuators. The results show the possibility of highly accurate, realtime control of the actuators using the FEM.

Use of Real-Time Programming Modules for Control of Actuator Positioning in Mechatronic System with Pneumatic Artificial Muscles

2015 ◽  
Vol 18 ◽  
pp. 44-53
Author(s):  
Miroslav Rimár ◽  
Peter Šmeringai ◽  
Marcel Fedák
Keyword(s):  
Control System ◽  
Real Time ◽  
Control Algorithm ◽  
Experimental Device ◽  
Computational Time ◽  
Artificial Muscles ◽  
Mechatronic System ◽  
Real Time Control ◽  
Time Control ◽  
Pneumatic Artificial Muscles

This paper explains proposed real-time control system algorithm modifications for control of drives containing the artificial muscles. The aim of these modifications is to create control algorithm more effective in spite to provide effective computational time to prepare measurement chain to add further artificial muscles to ensure movement in another directions. Described are devices, hardware and software equipment, as well as design of their involvement in the experimental device.

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.

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