scholarly journals Development of a Real-Time Human-Robot Collaborative System Based on 1 kHz Visual Feedback Control and Its Application to a Peg-in-Hole Task

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 663
Author(s):  
Yuji Yamakawa ◽  
Yutaro Matsui ◽  
Masatoshi Ishikawa
Keyword(s):  
Real Time ◽  
High Speed ◽  
High Accuracy ◽  
Robot Hand ◽  
Collaborative System ◽  
Visual Sensing ◽  
Hand Control ◽  
The Stability ◽  
Visual Feedback Control ◽  
Human Robot Collaboration

In this research, we focused on Human-Robot collaboration. There were two goals: (1) to develop and evaluate a real-time Human-Robot collaborative system, and (2) to achieve concrete tasks such as collaborative peg-in-hole using the developed system. We proposed an algorithm for visual sensing and robot hand control to perform collaborative motion, and we analyzed the stability of the collaborative system and a so-called collaborative error caused by image processing and latency. We achieved collaborative motion using this developed system and evaluated the collaborative error on the basis of the analysis results. Moreover, we aimed to realize a collaborative peg-in-hole task that required a system with high speed and high accuracy. To achieve this goal, we analyzed the conditions required for performing the collaborative peg-in-hole task from the viewpoints of geometric, force and posture conditions. Finally, in this work, we show the experimental results and data of the collaborative peg-in-hole task, and we examine the effectiveness of our collaborative system.

Development of New Type Settlement Plate in Settlement Observation on High-Speed Railway

2011 ◽  
Vol 52-54 ◽  
pp. 529-532
Author(s):  
Huai Ping Feng ◽  
Jian Mei Chang ◽  
Zu Run Yue
Keyword(s):  
High Speed ◽  
High Accuracy ◽  
High Speed Railway ◽  
Type Settlement ◽  
Settlement Plate ◽  
New Type ◽  
The Stability ◽  
Passenger Dedicated Line

The stability and smoothness of embankment is very important factors for the design of a new high-speed railway project. To make an accuracy prediction of the post-construction settlement, it is necessary to carry out a carefully settlement observation during the construction of embankment. The defects of traditional settlement plate, however, are well known as disturbing construction and destroyed easily by construction. In this paper, based on the application in Shi-Wu passenger dedicated line, a new type of settlement plate has been developed. The application of this new type of settlement plate in site shows that it has no any disturbs on the pavement and compaction of embankment. And measurement becomes simple and easy to operation. Accordingly, high accuracy of settlement observation can be obtained by this method, which has the value of application in high-speed railway settlement observation.

Design of High-Speed Laser Ranging System Platform Based on FPGA

2014 ◽  
Vol 526 ◽  
pp. 347-350 ◽  
Author(s):  
Qiong Ying Lv ◽  
Kun Liu
Keyword(s):  
Real Time ◽  
High Speed ◽  
Moving Objects ◽  
High Accuracy ◽  
Measured Data ◽  
Laser Ranging ◽  
Entire System ◽  
Operation Speed ◽  
Motion State ◽  
Fpga Chip

This article describes an approach based on FPGA technology and application speed galvanometer technology for high-speed moving objects in real-time and accurate laser ranging system platform design. Laser Ranging has high accuracy, good collimation, good anti-jamming Intuit points, and use high integration, operation speed of FPGA chip for data acquisition and processing.Speed galvanometer technology to ensure the entire system platform can continuously measure the distance to the high speed moving object information. The entire system ensures that the measured object in rapid motion state, the measured data in real time and accuracy.

Design and Test of Express Elevator Control System

2009 ◽  
Vol 626-627 ◽  
pp. 541-546
Author(s):  
Tun Dong Liu ◽  
Y. Han ◽  
H. Su ◽  
Ying Wang
Keyword(s):  
Control System ◽  
Real Time ◽  
High Speed ◽  
Can Bus ◽  
Control Logic ◽  
Hardware Platform ◽  
Operation Algorithm ◽  
Avr Mcu ◽  
The Stability ◽  
Sqlite Database

In order to meet the increasing requirements for express elevator control system and its intelligence and security, ARM chip is applied to construct hardware platform of elevator's main-board in this paper. BootLoader and the uCLinux are transplanted to this platform, and CAN-Bus and other related drivers are designed. A single elevator's operation algorithm is presented to achieve the elevator control logic. And the store and access of parameters of elevator are accomplished by real-time SQLite database. The main high-speed counting circuit is designed based on CPLD while the auxiliary one is based on AVR MCU, which guarantee the stability and reliability of the system. The operational results in elevator simulator verify the feasibility and efficiency of the control system.

High-Resolution Real-Time Visual Inspection System for Micro Assembly

2017 ◽  
Vol 870 ◽  
pp. 249-256
Author(s):  
Bing Yin Zhang ◽  
Mu Zheng Xiao ◽  
Zhi Jing Zhang ◽  
Ting Hai Qin
Keyword(s):  
High Resolution ◽  
Real Time ◽  
High Speed ◽  
Visual Inspection ◽  
Image Sensor ◽  
High Accuracy ◽  
Servo Control ◽  
Inspection System ◽  
Display Device ◽  
Micro Assembly

For precise assembly of miniature parts, the precise inspection for parts’ posture and real-time servo control for assembly greatly depend on the performance of visual inspection system. This paper proposed a high-resolution real-time visual inspection system of micro assembly. The CMOS image sensor and high-speed digital signal processing chip were chosen to design the image acquisition module, image processing module and image display module. High-accuracy display on the common display device was implemented with the video encoding chip and FPGA. The test results showed that the processing speed with preprocessing could reach 3.5 frames per second with 5 mega-pixel resolution, and the display accuracy after threshold processing had little loss. Micro parts assembly experiment and high accuracy Peg-in-Hole assembly experiment are done to test the performance of the proposed visual inspection system. This visual inspection system can be used for high-resolution real-time micro assembly and other real-time visual servo control.

Investigation of the Embedded Control System of Diesel Injector Nozzle Grinding

2014 ◽  
Vol 620 ◽  
pp. 352-357
Author(s):  
Shu Zhen Yang ◽  
Tao Yu ◽  
Yu Jie Bai
Keyword(s):  
Control System ◽  
Real Time ◽  
High Speed ◽  
General Structure ◽  
Control Program ◽  
High Accuracy ◽  
Time Performance ◽  
Injector Nozzle ◽  
Key Factor ◽  
Processing Control

An embebbed system based on S3C6410 controller and Linux operating system is established to overcome the deficiencies of the traditional control system for high accuracy processing of grinding diesel injector nozzle because of its high speed and real-time performance. In this paper,the general structure of the system is designed firstly. Secondly, the detailed hardware platform is constructed and its peripheral equipment is selected. In addition,the software structure is presented. Finally, the main application program,including of processing control program and algorithm of the flow signal processing which is the key factor for high accuracy maching, is studied. The actual processing data shows that this system has good real-time performance, high processing accuracy and stablity.

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