• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2012년도 춘계학술대회 논문집
• /
• pp.51-52
• /
• 2012

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.43.2-43
• /
• 2002

$\textbullet$ A PC can control the fixed number of motors because the number of slots is limited. $\textbullet$ We propose a distributed motion controller using CAN. $\textbullet$ TMS320F243 of TI Which is a DSP with embedded CAN-module was used as the main processor. $\textbullet$ The command from GUI is transmitted to each motion controller through CAN-bus $\textbullet$ CAN communications may occur at a maximum recommended rate of 1Mbit/sec. $\textbullet$ The user can control more motors easily by connecting to the CAN network which has the CAN receive. $\textbullet$ This distributed motion controller may be used usefully in factory automation or an unmanned factory.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.753-757
• /
• 2004

This paper describes a PC-based distributed multi-rate realtime control system using USB protocol, which is developed as a general motion controller. The control system consists of two control programs: one running at 1 kHz sampling rate on a PC with Linux and another running at 10 kHz sampling rate on a remotely located motion control card called RASID (remote axis serial interface device). Two programs communicates through USB at every 1 msec. A USB communication driver is developed to ensured the 1 msec desired communication time. The main program running on the PC generates reference trajectory at 1 kHz and send it to the RASID through USB and RASIDs located near the motors gather the sensor information and execute the low-level control at 10 kHz. The USB-based connectivity reduces the wiring harness and eventually the manufacturing cost of the machine. The multi-rate nature of the developed system improves the control capability. The effect of sampling rate is analyzed and simulated.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2000년도 전력전자학술대회 논문집
• /
• pp.641-644
• /
• 2000

Recently As the performance of the personal computer has been improving rapidly lots of research for the pc-based numerical computer actively progress in an easy repair maintenance and improving the performance with less cost. This paper presents the design using complex programmable logic device(CPLD). The CPU of Motion Controller that function as the real time control of the independent multi-axis motion the error-detect module and external I/O control made use of 80C196KC, In this paper The PC-NC effectively distributed to the load of NCK(numerical computer kernel) and have the advantage of high speed and precision.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1535-1538
• /
• 2004

In this paper, an Intelligent Bed Robot System (IBRS) is proposed, that is a special bed equipped with robot manipulator. To assist a patient using IBRS, pose and motion estimation process is fundamental. It is designed to help the elderly and the disabled for their independent life in bed without other assistants. For this purpose, we use the pressure sensor distributed mattress for detecting the change of motion on the bed. Using that data, we control the robot arm to move to the appropriate position and serve to the user. In addition, we can estimate the user's intention based on the change of pressure and use those data to control the robot arm guide.

• 융합신호처리학회논문지
• /
• 제5권1호
• /
• pp.40-45
• /
• 2004

본 논문에서는 병렬 분산제어 방식을 이용한 곡면유리 자동성형 시스템을 개발한다. 설계된 시스템은 PC, 하나의 주제어기, 그리고 11개의 서보제어기로 구성된다. 각 요소들은 RS-232C와 8비트 데이터 버스로 연결된다. 안정성과 제어성능을 고려하여 정밀 PID 모션제어기 프로세서와 DC모터 제어에 사용되는 H-브리지를 사용한다. 설계된 시스템에서, PC는 주어진 곡률반경에 대한 각 구조물의 위치 값을 계산하고 이 값에 대응하는 모터 회전 데이터를 계산하며 작업자의 조작 입력을 위한 사용자 인터페이스를 제공한다. 주제어기는 PC로부터 동작 명령과 제어 파라미터를 받아 버스 통신방식을 이용하여 이를 각 서보제어기로 전달하며 서보제어기는 주제어기로부터 넘겨받은 동작명령과 제어 파라미터를 이용하여 각 모터에 대하여 PID제어를 수행한다.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1996년도 추계학술대회 논문
• /
• pp.133-137
• /
• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have bevome increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking arre indispensable capabilities for their versatile application. the need to meet demanding control requirement in increasingly complex dynamical control systems under sygnificant uncertainties leads toward design of implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme the ntworks intrduced are neural nets with dynamic neurouns whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure fast in computation and suitable for implementation of real-time control, Performance of the neural controller is illustrated by simulation and experimental results for a SCAEA robot.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제53권3호
• /
• pp.182-187
• /
• 2004

In this paper, we propose a PC based distributed controller for a two axis convey table using real-time micro-kernel. PC, Windows program, gives an easy way to implement wealthy GUI and micro-kernel, ${\mu}$C/OS-II, provides a real-time capability to control devices. We built a real-time distributed control system using ${\mu}$C/OS-II kernel which needs to process the tasks for two motors within the desired time to synchronize the motion. We used both semaphore and message mail box for synchronization. Unlike the previous study where we used step motors for the actuator of two axes convey table, we rebuilt the convey table with DC motors and the dedicated position servo which had built in out lab, and then we implemented a realtime distributed control system by putting the micro-kernel into between PC and position servo. Moreover we developed the PC based graphic user interfaces for generating planar drawing image control. Experimental results also presented to show the Proposed control system is useful.

• Structural Engineering and Mechanics
• /
• 제75권3호
• /
• pp.327-337
• /
• 2020

The stability and dynamic performance of a flapper-nozzle servo valve depend on several factors, such as the motion of the armature component and the deformation of the spring tube. As the only connection between the armature component and the fixed end, the spring tube plays a decisive role in the dynamic response of the entire system. Aiming at predicting the vibration characteristics of the servo valves to combine them with the control algorithm, an innovative dynamic stiffness based on a distributed parameter model (DPM) is proposed that can reflect the dynamic deformation of the spring tube and a suitable discrete method is applied according to the working condition of the spring tube. With the motion equation derived by DPM, which includes the impact of inertia, damping, and stiffness force, the mathematical model of the spring tube dynamic stiffness is established. Subsequently, a suitable program for this model is confirmed that guarantees the simulation accuracy while controlling the time consumption. Ultimately, the transient response of the spring tube is also evaluated by a finite element method (FEM). The agreement between the simulation results of the two methods shows that dynamic stiffness based on DPM is suitable for predicting the transient response of the spring tube.

• 소음진동
• /
• 제6권5호
• /
• pp.555-565
• /
• 1996

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..