Design of a universal robot controller

The paper deals with a general purpose industrial robot controller. Due to the modules of the system is universal. It can be connected to several types of robots, even to CNC, turning-mill or other machines. It was connected to an Adept Scara robot successfully,experimental results will be presented. The basic element of the system is the EMC2 open source robot controller program, which runs in a realtime linux kernel. A PCI card creates the high speed connection between the EMC2 and the machine. DC servo amplifier, digital input and output module, teach pendant, and power electronics designed for the system. The system is RT-middleware (Robotics Technology Middleware)compatible. The RT-middleware is a common robot control platform, which can easily connect different robots to the same network for a common work

NeuroPod: a real-time neuromorphic spiking CPG applied to robotics

Initially, robots were developed with the aim of making our life easier, carrying out repetitive or dangerous tasks for humans. Although they were able to perform these tasks, the latest generation of robots are being designed to take a step further, by performing more complex tasks that have been carried out by smart animals or humans up to date. To this end, inspiration needs to be taken from biological examples. For instance, insects are able to optimally solve complex environment navigation problems, and many researchers have started to mimic how these insects behave. Recent interest in neuromorphic engineering has motivated us to present a real-time, neuromorphic, spike-based Central Pattern Generator of application in neurorobotics, using an arthropod-like robot. A Spiking Neural Network was designed and implemented on SpiNNaker. The network models a complex, online-change capable Central Pattern Generator which generates three gaits for a hexapod robot locomotion. Recon gurable hardware was used to manage both the motors of the robot and the real-time communication interface with the Spiking Neural Networks. Real-time measurements con rm the simulation results, and locomotion tests show that NeuroPod can perform the gaits without any balance loss or added delay.Ministerio de Economía y Competitividad TEC2016-77785-

An FPGA-based controller for collaborative robotics

The use of robots is becoming more common in society. Industrial robots are being developed to work with people, and lower-force collaborative robots are being developed to help people in their everyday lives. These may need fast and sophisticated motion control and behavioral algorithms, but are expected to be more compact and lower cost. This paper proposes a processor plus FPGA solution for the control systems for such robots, where the FPGA performs all real-time tasks, freeing the processor to run lower-frequency high level control and interface to other devices such as camera systems. A demonstrator robot is designed, combining multi-axis motion control with 3D robot vision

High performance control of a multiple-DOF motion platform for driver seat vibration test in laboratory

Dynamic testing plays an important part in the vehicle seat suspension study. However, a large amount of research work on vibration control of vehicle seat suspension to date has been limited to simulations because the use of a full-size vehicle to test the device is an expensive and dangerous task. In order to decrease the product development time and cost as well as to improve the design quality, in this research, a vibration generation platform is developed for simulating the road induced vehicle vibration in laboratory. Different from existing driving simulation platforms, this research focuses on the vehicle chassis vibration simulation and the control of motion platform to make sure the platform can more accurately generate the actual vehicle vibration movement. A seven degree-of-freedom (DOF) full-vehicle model with varying road inputs is used to simulate the real vehicle vibration. Moreover, because the output vibration data of the vehicle model is all about the absolute heave, pitch and roll velocities of the sprung mass, in order to simulate the vibration in all dimensions, a Stewart multiple-DOF motion platform is designed to generate the required vibration. As a result, the whole vibration simulator becomes a hardware-in-the-loop (HIL) system. The hardware consists of a computer used to calculate the required vibration signals, a Stewart platform used to generate the real movement, and a controller used to control the movement of the platform and implemented by a National Instruments (NI) CompactRIO board. The data, which is from the vehicle model, can be converted into the length of the six legs of the Stewart platform. Therefore, the platform can transfer into the same posture as the real vehicle chassis at that moment. The success of the developed platform is demonstrated by HIL experiments of actuators. As there are six actuators installed in the motion platform, the signals from six encoders are used as the feedback signals for the control of the length of the actuators, and advanced control strategies are developed to control the movement of the platform to make sure the platform can accurately generate the required motion even in heavy load situations. Theoretical study is conducted on how to generate the reasonable vibration signals suitable for vehicle seat vibration tests in different situations and how to develop advanced control strategies for accurate control of the motion platform. Both simulation and experimental studies are conducted to validate the proposed approaches

Position and speed optimization of servo motor control through FPGA

We have put our model in this paper in which we will be controlling the speed and direction of the servomotor through FPGA. So, as to guarantee the precision from the check control procedure, we have made a project in which the document provides the control plane associated with servo motor depending on Altera DE1 board gentle primary processor as program controller. The system utilizes FPGA since the primary gadget, as well as within Quartus II 10.0 program atmosphere. The associated control components aremade to type a good executable control program in which speed and direction will be controlled the servo motor performance. The particular handle signs from your handle method are usually separated and amplified which results in the push to appreciate the particular handle with the servo motor. Based on the features associated with Altera, it is expounded through 2 facets of equipment’s hardware as well as a software program that supplies an answer for that style associated with the servo control system. This particular document utilizes the actual PID control formula to manage the actual common screening device to attain versatile as well as precise control reasons. The actual equipment execution from the PID control formula is put in place through FPGA; precise as well as effective control program is built to enhance the speed and performance of the servomotor through FPGA