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.

The Design of Gluing Robot Control System Based on CAN Bus

2014 ◽  
Vol 1006-1007 ◽  
pp. 627-630 ◽  
Author(s):  
Xu Dong Yang
Keyword(s):  
Control System ◽  
Real Time ◽  
Software Design ◽  
Robot Control ◽  
Can Bus ◽  
System Structure ◽  
Reliable Control ◽  
The Real ◽  
Data Transferring ◽  
Robot Control System

CAN bus was used as the data transferring channels in the two–level controllers, and the real-time,dexterity,expansibility and security for the Gluing control system based on CAN bus can be improved obviously.The system structure, principle and software design were introduced.The experiment shows that it is a reliable control system and it can meet the requirements of automatic gluing tasks.

scholarly journals Study on Multi-Degree of Freedom Dynamic Vibration Absorber of the Carbody of High-Speed Trains

2021 ◽  
Author(s):  
Yu SUN ◽  
Jinsong Zhou ◽  
Dao Gong ◽  
Yuanjin Ji
Keyword(s):  
Vibration Control ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Dynamic Stiffness ◽  
Degree Of Freedom ◽  
Vibration Absorber ◽  
High Speed Train ◽  
Dynamic Vibration Absorber ◽  
Multiple Degrees Of Freedom ◽  
Dynamic Vibration

Abstract To absorb the vibration of the carbody of the high-speed train in multiple degrees of freedom, a multi-degree of freedom dynamic vibration absorber (MDOF DVA) is proposed. Installed under the carbody, the natural vibration frequency of the MDOF DVA from each DOF can be designed as a DVA for each single degree of freedom of the carbody. Hence, a 12-DOF model including the main vibration system and a MDOF DVA is established, and the principle of Multi-DOF dynamic vibration absorption is analyzed by combining the design method of single DVA and genetic algorithm. Based on a high-speed train dynamics model including an under-carbody MDOF DVA, the vibration control effect on each DOF of the MDOF DVA is analyzed by the virtual excitation method. Moreover, a high static and low dynamic stiffness (HSLDS) mount is proposed based on a cam–roller–spring mechanism for the installation of the MDOF DVA due to the requirement of the low vertical dynamic stiffness. From the dynamic simulation of a non-linear model in time-domain, the vibration control performance of the MDOF DVA installed with nonlinear HSLDS mount on the carbody is analyzed. The results show that the MDOF DVA can absorb the vibration of the carbody in multiple degrees of freedom effectively, and improve the running ride quality of the vehicle.

scholarly journals Oblique impact of a smooth body on a thin layer of inviscid liquid

2013 ◽  
Vol 469 (2151) ◽  
pp. 20120615 ◽  
Author(s):  
T. I. Khabakhpasheva ◽  
A. A. Korobkin
Keyword(s):  
Body Surface ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Hydrodynamic Pressure ◽  
Oblique Impact ◽  
The Body ◽  
Second Stage ◽  
Smooth Body ◽  
Vertical Displacements ◽  
The Impact

The two-dimensional motion of a rigid body with a smooth surface is studied during its oblique impact on a liquid layer. The problem is coupled: the three degrees of freedom of the moving body are determined together with the liquid flow and the hydrodynamic pressure along the wetted part of the body surface. The impact process is divided into two temporal stages. During the first stage, the wetted region expands at a high speed with jetting flows at both ends of the wetted region. In the second stage, the free surface of the liquid is allowed to separate from the body surface. The position of the separation point is determined with the help of the Brillouin–Villat condition. Calculations are performed for elliptic cylinders of different masses and with different orientations and speeds before the impact. The horizontal and vertical displacements of the body, as well as its angle of rotation and corresponding speeds are investigated. The model developed remains valid until the body either touches the bottom of the liquid or rebounds from the liquid.

Development of Data Acquisition and Control System with High Speed and Long Distance

2014 ◽  
Vol 568-570 ◽  
pp. 203-207
Author(s):  
Lan Hao Zhao ◽  
Xiao Feng He ◽  
Long Jun Luo ◽  
Xue Wen Yan
Keyword(s):  
Control System ◽  
Data Acquisition ◽  
Software Design ◽  
High Speed ◽  
Test Bench ◽  
Safety Valve ◽  
Long Distance ◽  
Automation Control ◽  
And Control ◽  
Large Flow

A data acquisition and control system for a safety valve test bench with high pressure and large flow rate, was developed based on the host-slave architecture, which takes an Industrial Personal Computer (IPC) as host computer and a Programmable Automatic Controller (PAC) as salve computer. The hardware architecture and software design of this system were introduced in detail. This system was verified by the experiment, and the results indicate that it can fulfill the requirement of data acquisition and control with high speed and long distance. This study can provide reference for many automation control fields.

Simulation Study on ESP Fuzzy Control Based on Road Automatic Identification

2014 ◽  
Vol 1044-1045 ◽  
pp. 863-867
Author(s):  
Yan Rong Fu ◽  
Li Xian Ren ◽  
Guo Ye Wang ◽  
Hai Jing Hou
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Control Strategy ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Integrated Control ◽  
Automatic Identification ◽  
Electronic Stability Program ◽  
Slip Ratio ◽  
Fuzzy Control Strategy

ESP (Electronic Stability Program) is a kind of active safety device which can comprehensively improve the brake, drive and high speed performance of the automobile. Mastering the key technologies of ESP control system plays an important role in improving the performance of ESP. Vehicle dynamic model and engine model with 9 degrees of freedom of one passenger car were established based on vehicle and tire force analysis. The ESP fuzzy control model based on slip ratio control was established. The optimal slip ratio under different pavements was confirmed by using road recognition method. ESP fuzzy control was realized under MATLAB/Simulink environment. And through the split road simulation prove the validity of the road recognition algorithm, and the effectiveness of the fuzzy control strategy. The simulation and the debugging results indicate that the ESP fuzzy control strategy based on road automatic identification works well, and obviously improves automobile stability under critical situations. And all of these make a good foundation for the further research and development for the ESP integrated control system.

Wheeled Mobile Robot Based on 51 Single Chip Computer Control System Design

2013 ◽  
Vol 846-847 ◽  
pp. 103-106
Author(s):  
Jun Han ◽  
Hui Jun Zhou
Keyword(s):  
Control System ◽  
Software Design ◽  
Robot Control ◽  
Computer Control ◽  
Control System Design ◽  
Single Chip ◽  
Computer Control System ◽  
Single Chip Microcomputer ◽  
Single Chip Computer ◽  
Microcomputer Control

Controller is the core of robot control system. This design uses a dual stc89c52rc single chip microcomputer control, which processes and responds very quickly,with the campaign, obstacle avoidance, automatic tracing function. This article describes the hardware and software design of control system.

Teleoperation Hybrid Robot for Cell Micro and Nano Manipulations

2006 ◽  
Author(s):  
Florin Ionescu ◽  
Ilie Talpasanu
Keyword(s):  
Control System ◽  
High Speed ◽  
Robot Control ◽  
Three Dimensional ◽  
Haptic Interface ◽  
Kinematic Structure ◽  
Regional Structure ◽  
Working Space ◽  
Rotational Joint ◽  
And Control

In this paper is presented a developed robotic system for cell micro/nano manipulation and penetration, based on the visual/haptic interface. The operator’s motion and manipulations skills are transferred to the robot control system by direct teleoperation. The robot’s regional structure has three translational joints and one passive rotational joint for the nanorobot adjustment. The three-d.o.f piezo actuated nano robot is a compact and stiff structure, to guarantee the three-dimensional nano motion and control for sample manipulation or injection. The closed kinematic structure with two fundamental loops has been chosen for the required working space, high speed, and precision. The digraph-matroid approach is used for the model’s kinematics, and the SDS software for the robot’s simulation.

Sign in / Sign up

Export Citation Format

Share Document