Real-time NURBS interpolation using FPGA for high speed motion control

2006 ◽  
Vol 38 (10) ◽  
pp. 1123-1133 ◽  
Author(s):  
Hong-Tzong Yau ◽  
Ming-Tzong Lin ◽  
Meng-Shiun Tsai
Keyword(s):  
Real Time ◽  
Motion Control ◽  
High Speed ◽  
Nurbs Interpolation

Image-based estimation, planning, and control for high-speed flying through multiple openings

2020 ◽  
Vol 39 (9) ◽  
pp. 1122-1137
Author(s):  
Dejun Guo ◽  
Kam K Leang
Keyword(s):  
Real Time ◽  
Motion Control ◽  
High Speed ◽  
Poor Performance ◽  
Image Features ◽  
Robot Dynamics ◽  
Planning And Control ◽  
Invariant Features ◽  
Experimental Trials ◽  
And Control

This article focuses on enabling an aerial robot to fly through multiple openings at high speed using image-based estimation, planning, and control. State-of-the-art approaches assume that the robot’s global translational variables (e.g., position and velocity) can either be measured directly with external localization sensors or estimated onboard. Unfortunately, estimating the translational variables may be impractical because modeling errors and sensor noise can lead to poor performance. Furthermore, monocular-camera-based pose estimation techniques typically require a model of the gap (window) in order to handle the unknown scale. Herein, a new scheme for image-based estimation, aggressive-maneuvering trajectory generation, and motion control is developed for multi-rotor aerial robots. The approach described does not rely on measurement of the translational variables and does not require the model of the gap or window. First, the robot dynamics are expressed in terms of the image features that are invariant to rotation (invariant features). This step decouples the robot’s attitude and keeps the invariant features in the flat output space of the differentially flat system. Second, an optimal trajectory is efficiently generated in real time to obtain the dynamically-feasible trajectory for the invariant features. Finally, a controller is designed to enable real-time, image-based tracking of the trajectory. The performance of the estimation, planning, and control scheme is validated in simulations and through 80 successful experimental trials. Results show the ability to successfully fly through two narrow openings, where the estimation and planning computation and motion control from one opening to the next are performed in real time on the robot.

scholarly journals Research on distributed real-time synchronous motion control based on time-sensitive networking

2021 ◽  
Vol 336 ◽  
pp. 04015
Author(s):  
Li Han ◽  
Hong Yang ◽  
Lan Zhuo ◽  
Chi Zhang
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Data Transmission ◽  
High Speed ◽  
Phase Synchronization ◽  
Traffic Load ◽  
Precision Manufacturing ◽  
Synchronous Motion ◽  
Periodic Data ◽  
Control Scheme

As a set of protocol standards defining time sensitive mechanism of Ethernet data transmission, Time sensitive network (TSN) can support transmission of isochronous data and non-periodic data in the same network . Distributed synchronous control plays an important role in large precision manufacturing scene. In this paper, a distributed real-time synchronous motion control scheme of two motors based on TSN is proposed, and the experiment shows that the two motors moving at high speed can still maintain phase synchronization under the scheduling mechanism of IEEE Std 802.1Qbv even if there is a large traffic load in the network.

A NURBS Interpolator Using Multiprocessor on Chip for High Performance Motion Control

2011 ◽  
Vol 130-134 ◽  
pp. 1929-1932
Author(s):  
Wei Tang ◽  
Xiao Dong Zhang ◽  
Yong Ding ◽  
Jing Jing
Keyword(s):  
Motion Control ◽  
High Speed ◽  
High Performance ◽  
Experimental Tests ◽  
High Accuracy ◽  
Motion Controller ◽  
Real Time Control ◽  
Time Control ◽  
Nurbs Interpolation ◽  
On Chip

Modern CNC system adopts the NURBS interpolation for the purpose of achieving high-speed and high accuracy performance. However, in conventional control architectures, the computation of the basis functions of a NURBS curve is very time consuming due to serial computing constraints. In this paper, a novel multiprocessor-based motion controller on chip utilizing its high-speed parallel computing power is proposed to realize the NURBS interpolation. The motion control algorithm and I/O control are also embedded in the chip to implement real-time control and NURBS interpolation simultaneously. The experimental tests using an X-Y table verify the outstanding computation performance of the multiprocessor-based motion controller on chip. The result indicates that shorter sampling time (0.1 ms) can be achieved for NURBS interpolation and high-accuracy motion control.

Real-Time NURBS Interpolator with an Optimal Feed for High-Speed Machining

2009 ◽  
Vol 69-70 ◽  
pp. 461-465 ◽  
Author(s):  
Jing Chun Feng ◽  
Yu Han Wang ◽  
Ming Chen ◽  
Jin Sen Wang
Keyword(s):  
Real Time ◽  
High Speed ◽  
Interpolation Method ◽  
High Speed Machining ◽  
Chord Error ◽  
Look Ahead ◽  
Nurbs Interpolation ◽  
Optimal Feed ◽  
Error Constraint ◽  
Circular Interpolation

NURBS interpolation has many advantages over the traditional linear or circular interpolation in high-speed machining. The existing work in this regard focuses on adaptive feed interpolation considering the chord error constraints and tangent acceleration limits. However, regardless of the dynamic characteristics of individual axis, performance will inevitably suffer when the system is called upon to execute a complex trajectory beyond the range of its capabilities. The intent of the present work is to provide an optimal feed interpolation method respecting both the chord error constraint and the drive constraint of each axis. A look-ahead scheme is applied with a moving window to augment the calculation efficiency for real-time application. Simulations are performed to verify the resulting feedrate, acc/dec profiles and the real-time performance of the proposed interpolator.

scholarly journals Real-time high-speed motion blur compensation system based on back-and-forth motion control of galvanometer mirror

2015 ◽  
Vol 23 (25) ◽  
pp. 31648 ◽  
Author(s):  
Tomohiko Hayakawa ◽  
Takanoshin Watanabe ◽  
Masatoshi Ishikawa
Keyword(s):  
Real Time ◽  
Motion Control ◽  
High Speed ◽  
Motion Blur ◽  
Compensation System
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