The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Implementation and Performance Evaluation of the Dual Controller System for Precision Control of Gripper

그리퍼 정밀 제어를 위한 이중 제어기 시스템의 구현 및 성능 평가

  • Received : 2017.11.11
  • Accepted : 2018.01.03
  • Published : 2018.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a Dual Controller System for Precision Control (DCSPC) for control of the gripper. The DCSPC consists of two subsystems, CDSP (Controller based DSP) and CARM (Controller based ARM processor). The CDSP is developed on a DSP processor and controls the gripping motor and LVDT. In particular, the CARM is implemented using Linux and ARM processor according to recent research related to open-source. The robot for high-precision assembly is divided into the robot control and the gripper control section and controls CARM and CDSP systems respectively. In this paper, we also proposed and measured the performance of communication API. As a result, it is expected to recognize improvements in communication between CARM and the robot controller, and will continue to conduct relevant research among other commercial robot controllers.

Keywords

References

  1. D.H. Hong, J. An, S.M. Lee, S.Y. Jeong, and I.H. Lee, "Modular of controller for electric gripper," KSPE Spring Conference, Jeju, Korea, pp. 147, 2016.
  2. S.U. Son, S.Y. Lee, M.B., and Kim, S.H. Kim, "Conceptual design on modularity of motor driven robot gripper" KSPE Autumn Conference, Jeju, Korea, pp. 305-306, 2014.
  3. S.P. Cheon, S. Kim, G. Baek, and I.S. Lee, "Industrial roboto technical trend focused on actuator," KSMTE Spring Conference, Jeju, Korea, pp. 270-271, 2011.
  4. Denso Manual, Denso Manual Download, [Online], http://www.denso-wave.com/ko/robot/download/, Accessed: Jan. 19. 2018.
  5. Robostar Manual, Robostar Manual Download, [Online], http://www.robostar.co.kr/kr/56/subview.do, Accessed: Accessed: Jan. 9. 2018.
  6. UR3 Manual, UR3 Manual Download, [Online], https://www.universal-robots.com/media/207442/ur3_user_manual_en_global.pdf, Accessed: Jan. 9. 2018.
  7. A. Barbalace, A. Luchetta, G. Manduchi, M. Moro, A. Soppelsa, C. Taliercio, "Performance comparison of VxWorks, Linux, RTAI, and Xenomai in a hard real-time application," IEEE Transactions on Nuclear Science, Vol. 55, No. 1, pp. 435-439, 2008. https://doi.org/10.1109/TNS.2007.905231
  8. M.D. Marieska, A.I. Kistijantoro, and M. Subair, "Analysis and benchmarking performance of real time patch Linux and Xenomai in serving a real time application," 2011 International Conference on Electrical Engineering and Informatics, Bandung, Indonesia, 2011, doi: 10.1109/ICEEI.2011.6021563.
  9. J.H. Koh, and B.W. Choi, "Real-time performance of real-time mechanisms for rtai and xenomai in various running conditions," International Journal of Control and Automation, Vol. 6, No. 1, pp. 235-246, 2013.
  10. W. Betz, M. Cereia, and I. C. Bertolotti, "Experimental evaluation of the Linux RT Patch for real-time applications," IEEE Conference on Emerging Technologies & Factory Automation, Mallorca, Spain, 2009, doi: 10.1109/ETFA.2009.5347056.
  11. M. Chiandone, and G. Sulligoi, "Performance assessment of a motion control application based on linux RTAI," 2010 International Symposium on Power Electronics Electrical Drives Automation and Motion (SPEEDAM), Pisa, Italy, 2010, doi: 10.1109/SPEEDAM.2010.5542055.
  12. Xenomai, Home Page of Xenomai, [Online], https://www.xenomai.org, Accessed: Jan. 9. 2018.
  13. S.-Y. Lee, U.-H. Ham, Y.-W. Park, H.-S. Jung, I.-K. Jung, and S. Lim, "Implementation and performance evaluation open-source controller for precision control of gripper," Second International Conference on Robotics and Machine Vision, Kitakyushu, Japan, 2017, doi: 10.1117/12.2301196.

Cited by

  1. 파지 안정성을 강화한 과수 수확용 로봇 그리퍼의 설계 개선 vol.15, pp.2, 2020, https://doi.org/10.7746/jkros.2020.15.2.107