• Title, Summary, Keyword: real-time robot control

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Real-Time Centralized Soft Motion Control System for High Speed and Precision Robot Control (고속 정밀 로봇 제어를 위한 실시간 중앙 집중식 소프트 모션 제어 시스템)

  • Jung, Il-Kyun;Kim, Jung-Hoon
    • IEMEK Journal of Embedded Systems and Applications
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    • v.8 no.6
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    • pp.295-301
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    • 2013
  • In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

A design and implementation of DOS-based multitasking Kernel of the real-time operating systems for robot controller (DOS 환경 로봇제어기용 실시간 운영체계를 위한 멀티태스킹 커널의 설계및 구현)

  • Jang, Ho;Lee, Ki-Dong
    • Journal of Institute of Control, Robotics and Systems
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    • v.3 no.4
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    • pp.373-380
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    • 1997
  • In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

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A Study of Development and Real Time Control of Small Size Robot by Cable Reduction (케이블 감속을 이용한 소형 로봇의 개발과 실시간 제어에 관한 연구)

  • Hong, Jong-Sung;Lee, Jung-Wan
    • Journal of Industrial Technology
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    • v.22 no.B
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    • pp.251-260
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    • 2002
  • In this thesis, a three degrees of freedom robot, which is able to provide sufficient precision for various robot researches, has been developed. The cable mechanism is used as a basic transmission of robot joints. Based on an optimal design strategy, link and joint parameters are determined and then overall geometry of the robot is designed. As an architecture of robot control, real time control system using real time linux and RtiC-Lab(Real Time Controls Laboratory) is developed. This system, written in C and based on Linux O/S, includes text editor, compiler, downloader, and real time plotter running in host computer for developing control purpose. Using these hardware and software, simple PD position control is implemented, the results shows the effectiveness of the system.

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An implementation and performance analysis for robot control software under real-time operating systems (실시간 운영체제를 이용한 로봇제어기 소프트웨어의 구현 및 성능 분석)

  • 손승우;이기동
    • 제어로봇시스템학회:학술대회논문집
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    • pp.375-378
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    • 1996
  • Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

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Real-time Message Network System for a Humanoid Robot

  • Ahn, Sang-Min;Gong, Jung-Sik;Lee, Bo-Hee;Kim, Jin-Geol;Huh, Uk-Youl
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2296-2300
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    • 2005
  • This paper deals with the real-time message network system by a CAN (controller area network) based on the real-time distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to apply the real-time distributed processing for a humanoid robot, each control unit should have the real-time efficient control method, fast sensing method, fast calculation and real-time valid data exchange method. Moreover, the data from sensors and encoders must be transmitted to the higher level of control units in maximum time limit. This paper describes the real-time message network system design and the performance of the system.

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Development of a Real Time System for The Vertical Mobile Robot (수직면 부착이동 로봇을 위한 실시간 시스템 구현)

  • Lee, Sang-Hoey;Yang, Suk-Won;Kim, Won-Bae;Park, Ju-Yi;Kim, Soo-Ho
    • Proceedings of the KIEE Conference
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    • pp.1991-1992
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    • 2006
  • this paper is described the Vortical Mobile Robot problem which can be generated a lot of error like gravity, mobile error between main control system of robot and application program and solution which is installed RTX( Real Time Extension ) Kernel to Embedded XP of main control board because it needs to guarantee real time between the main control board of robot and the motion drive board and to develop the remote operation system for real time robot control also in case The Vertical Mobile Robot that needs fast and stable motile control so it is proposed a guaranteed real time system

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Application of Neural Network Adaptive Control for Real-time Attitude Control of Multi-Articulated Robot (다관절 로봇의 실시간 자세제어를 위한 신경회로망 적응제어의 적용)

  • Lee, Seong-Su;Park, Wal-Seo
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.25 no.9
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    • pp.50-55
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    • 2011
  • This research is to apply the adaptive control of neuron networks for the real-time attitude control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of attitude control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. In this research we used the response property curve of the robot instead of the activation function of neural network algorithms, so the adaptive control system of neural networks constructed without the information of modeling can perform a real-time control. The proposed adaptive control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

Remote Controlled Robot System using Real-Time Operating System (실시간 운영체제를 탑재한 원격 제어 로봇 시스템)

  • Lee, Tae-Hee;Cho, Sang
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.8
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    • pp.689-695
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    • 2004
  • This paper presents a robot system that combines computer network and an autonomous mobile robot where RTOS is installed. We propose a wireless communication protocol, and also implement it on the RTOS of the robot system. Main controller of the robot processes the control program as a task type in the real-time operating system. Peripheral devices are driven by the device driver functions with the dependency of the hardware. Because the client and server program was implemented to support the multi-platforms by Java SDK and Java JMF, it is easy to analyze programs, maintain system, and correct the errors in the system. End-user can control a robot with a vision showing remote sight over the Internet in real time, and the robot is moved keeping away from the obstacles by itself and command of the server received from end-user at the local client.

Adaptive Robust Control for Robot Manipulator with the Uncertain Bound Estimation and Implementation (불확실성의 경계를 추정하는 로봇 매니퓰레이터의 적응견실제어기 설계 및 실험)

  • 한명철;하인철
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.4
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    • pp.312-316
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    • 2004
  • In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

Implementation and Performance Evaluation of RTOS-Based Dynamic Controller for Robot Manipulator (Real-Time OS 기반의 로봇 매니퓰레이터 동력학 제어기의 구현 및 성능평가)

  • Kho, Jaw-Won;Lim, Dong-Cheal
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.57 no.2
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    • pp.109-114
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    • 2008
  • In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.