Control System Design for High Payload Industrial Robot via High Speed Communication Bus and Real-Time System

2011 ◽  
Vol 464 ◽  
pp. 272-278 ◽  
Author(s):  
Wei You ◽  
Min Xiu Kong ◽  
Li Ning Sun ◽  
Chan Chan Guo
Keyword(s):  
Control System ◽  
Real Time ◽  
High Speed ◽  
Industrial Robot ◽  
Engineering Application ◽  
Industrial Robots ◽  
Centralized Control ◽  
Time System ◽  
Real Time System ◽  
High Payload

In this paper, aiming at solving the problems of dynamic coupling effects and flexibility of joints and links, a kind of control system specialized for high payload industrial robots is proposed . After the comparisons between the control systems in all kinds of robots and numerical machines, industrial PC with TwinCAT real-time system is chosen as the motion control unit, EtherCAT is used for command transmitting. The whole control system has a decoupled and centralized control structure. The proposed control system is applied in control of a kind of high payload material handling robots with complex compound control algorithms. The final results shows that the control commands can be easily calculated and transmitted in one sample unit. The proposed control scheme is meaningful to real engineering application.

HIGH-SPEED INDUSTRIAL REAL-TIME NETWORK OF CYBERPHYSICAL SYSTEMS

2019 ◽  
pp. 46-52
Author(s):  
A. A. Zelensky
Keyword(s):  
Real Time ◽  
Cycle Time ◽  
High Speed ◽  
High Efficiency ◽  
Industrial Robot ◽  
Field Tests ◽  
Industrial Robots ◽  
Third Party ◽  
Industrial Equipment ◽  
Industrial Automation

The construction of a high-speed industrial real-time network based on FPGA (Field-Programmable Gate Array) for the control of machines and industrial robots is considered. A brief comparative analysis of the performance of the implemented Ethernet-based Protocol with industrial protocols of other leading manufacturers is made. The aim of the research and development of its own industrial automation Protocol was to reduce the dependence on third-party real-time protocols based on Ethernet for controlling robots, machines and technological equipment. In the course of the study, the requirements for the network of the motion control system of industrial equipment were analyzed. In order to synchronize different network nodes and provide short exchange cycle time, an industrial managed switch was developed, as well as a specialized hardware controller for processing Ethernet packets for end devices, presented as a IP-core. A key feature of the developed industrial network is that the data transmission in it is completely determined, and the exchange cycle time for each of the network devices can be configured individually. High efficiency and performance of implemented network devices became possible due to the use of hardware solutions based on FPGAs. All solutions described in the article as part of a modular digital system have been successfully tested in the control of machines and industrial robot. The results of field tests show that the use of FPGAs and soft processors with specialized peripheral IP-blocks can significantly reduce the tact of managing industrial equipment through the use of hardware computing structures, which indicates the promise of the proposed approach for solving industrial automation tasks.

Networking Register System for Web-Press Machine

2011 ◽  
Vol 50-51 ◽  
pp. 573-577
Author(s):  
Mei Hong Li ◽  
Ye Du ◽  
Ji Qiang Liu ◽  
Xin Zheng
Keyword(s):  
Real Time ◽  
High Speed ◽  
Print Quality ◽  
Time System ◽  
Real Time System ◽  
The Real ◽  
Trigger Signal ◽  
The Press

To resolve the color-register problem on web-press machine, a kind of networking register system was presented. Firstly, a special diamond mark was designed, which is easier to be embedded. Secondly, the high-speed cameras with external trigger signal were adopted to capture mark images under the control of synchronous encoder unit, at the same time the real-time deviation of color was obtained by analyzing the mark image. Lastly, the data of color deviation were transmitted to the press system over Ethernet. Thus, a close-loop and real-time system was built. Especially, an Ethernet solution for the press machine with many towers was proposed. According to the actual customer’s reports, waste of newspaper decreases greatly, in addition, print quality and print efficiency are both promoted.

An Operating Real-Time System of Multifunctional Rolling Mill Technological Process Automated Control System (ACYTП)

1976 ◽  
Vol 9 (2) ◽  
pp. 99-103
Author(s):  
B.B. Timofeev ◽  
V.I. Popelnukh ◽  
I.M. Golovko ◽  
V.A. Ushakov ◽  
B.S. Zoloznii ◽  
...  
Keyword(s):  
Control System ◽  
Real Time ◽  
Technological Process ◽  
Rolling Mill ◽  
Time System ◽  
Automated Control ◽  
Real Time System ◽  
Automated Control System

Open Architecture of Robot Control System Based on PROFI-BUS

2009 ◽  
Vol 419-420 ◽  
pp. 581-584
Author(s):  
Xiao Dong Tan ◽  
Feng Tan ◽  
Kun Zhang ◽  
Bao Liang Li
Keyword(s):  
Control System ◽  
Real Time ◽  
Robot Control ◽  
Data Exchange ◽  
Modular Design ◽  
Industrial Robot ◽  
Open Architecture ◽  
Field Bus ◽  
Real Time System ◽  
Robot Control System

A PROFI-BUS based industrial robot control system is introduced from the viewpoint of both software and hardware. It is discussed about how to use PC technology and field-bus technology to design an open robot control system. The system adopts a three- layer structure, which is mainly configured with universal control devices, to realize a modular and universal design. A high-speed field-bus is designed for connecting servo system and IPC, to ensure real-time capability; another low-speed Field-bus is used to connect IPC and PLC, HMI, teaching panel and other devices for data exchange, while reducing the occupancy of system resources. The software system adopts the modular design with Windows NT and RTX, which fully exploits the powerful functions of Window NT system and meets the requirements of real-time system. This open structure greatly enhances the system's flexibility and openness.

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