State-of-art on permanent magnet brushless DC motor drives

Permanent magnet brushless DC (PMBLDC) motors are the latest choice of researchers due to their high efficiency, silent operation, compact size, high reliability and low maintenance requirements. These motors are preferred for numerous applications; however, most of them require sensorless control of these motors. The operation of PMBLDC motors requires rotor-position sensing for controlling the winding currents. The sensorless control would need estimation of rotor position from the voltage and current signals, which are easy to be sensed. This paper presents a state of art on PMBLDC motor drives with emphasis on sensorless control of these motors

High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand

Abst rac t- The paper presents hardware and software architectures of the HIT/DLR Hand. The hand has four identical fingers and an extra degree of freedom (d.o.f) for palm. In each finger, there is a re-configurable Field Programmable Gate Array (FPGA) for data acquisition, Brushless DC (BLDC) motors control and communication with palm's FPGA by Point-to-Point Serial Communication (PPSeCo). The kernel of the hardware system is a PCI-based high speed floating-point Digital Signal Processor (DSP) for data processing, and FPGA for high speed (up to 25Mbps) real-time serial communication with the palm's FPGA. In order to achieve high modularity and reliability of the hand, a fully mechatronic integration and analog signals in-situ digitalization philosophy are implemented to minimize the dimension, number of the cables (5 cables including power supply) and protect data communication from outside disturbances. Furthermore, according to the hardware architecture of the hand, a hierarchical software architecture has been established to perform all data processing and control of the hand. The software structure provides basic Application Programming Interface (API) functions and skills to access all hardware resources for data acquisition, computation and tele-operation. Index Terms- dexterous robot hand; DSP; FPGA; modular I

System to control of robotic machines using programmable logic devices

Orientador: Marconi Kolm MadridDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de ComputaçãoResumo: Este trabalho de mestrado teve o propósito de projetar e construir um sistema de hard-ware capaz de realizar o controle de máquinas robotizadas em tempo real. Foi dada uma abordagem usando técnicas de processamento paralelo e eletrônica reconfigurável com o uso de dispositivos lógicos programáveis. Mostrou-se em função dos resultados das implementações que o sistema proposto é eficiente para ser utilizado no controle de robôs baseado em modelos matemáticos complexos como cinemático direto/inverso, dinâmico e de visão artificial. Esse mesmo sistema prevê sua utilização para os quatro níveis hierárquicos envolvidos em plantas que se utilizam de controle automático: supervisão, tarefas, trajetória e servomecanismos. O sistema possui interfaces de comunicação USE e RS-232, conversores A/D e D/A, sistema de processamento de imagens (entradas e saídas de sinais de vídeo analógico), portas E/S, chaves e leds para propósito geral. A eficiência foi comprovada através de experimentações práticas utilizando sistemas robóticos reais como: sistema de um pêndulo acionado, robô redundante de 4GDL denominado Cobra, e solução em hardware de funções importantes no sentido da resolução dos modelos matemáticos em tempo real como funções transcendentaisAbstract: This work had as purpose the project and build of a hardware system with abilities to accomplish the real time control of robotic machines. It was given an approach using tech-niques of parallel processing and programmable electronics configuration with programmable logic devices. According to the implementation results, it was shown that this proposed sys-tem is efficient to be used for controlling robots based on complex mathematical models, like direct/inverse kinematics, dynamics and artificial vision. This system foresees its use for the four hierarchical levels involved in industrial plants that use automatic control: supervision, tasks, trajectory /path and servomechanisms. The system has USE and RS-232 communica-tion interfaces, A/D and D/A converters, image processing capabilities (with input/output for analog video signals), I/O ports, and switches and leds for general purpose. Its efficiency is demonstrated through practical experimentations using real robotic systems as: a driven pendu-lum system, a redundant 4 DOF robot called "Cobra", and a hardware solution for important functions in the sense of real time mathematical models computing, like the transcendental functionsMestradoAutomaçãoMestre em Engenharia Elétric

移載ロボット用エンドエフェクタの省駆動軸構成に関する研究

芝浦工業大学2020年