• Title/Summary/Keyword: Synchronized Motion Control

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A Motion Planning Algorithm for Synchronizing Spatial Trajectories of Multi-Robots (다수 로봇간 공간궤적 동기화를 위한 모션계획 알고리즘)

  • Jeong Young-Do;Kim Sung-Rak;Lee Choong-Dong;Lim Hyun-Kyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.12
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    • pp.1233-1240
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    • 2004
  • Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

Xenomai-based Embedded Controller for High-Precision, Synchronized Motion Applications (고정밀 동기 모션 제어 응용을 위한 Xenomai 기반 임베디드 제어기)

  • Kim, Chaerin;Kim, Ikhwan;Kim, Taehyoun
    • KIISE Transactions on Computing Practices
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    • v.21 no.3
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    • pp.173-182
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    • 2015
  • Motion control systems are widely deployed in various industrial automation processes. The motion controller, which is a key element of motion control systems, has stringent real-time constraints. The controller must provide a short and deterministic control message transmission cycle, and minimize the actuation deviation among motor drives. To meet these requirements, hardware-based proprietary controllers have been prevalent. However, since it is becoming difficult for such an approach to meet increasing needs of system interoperability and scalability, nowadays, software-based universal motion controllers are regarded as their substitutes. Recently, embedded motion controller solutions are gaining attention due to low cost and relatively high performance. In this paper, we designed and implemented an embedded motion controller on an ARM-based evaluation board by using Xenomai real-time kernel and other open source software components. We also measured and analyzed the performance of our embedded controller under a realistic test-bed environment. The experimental results show that our embedded motion controller can provide relatively deterministic performance with synchronized control of three motor axis at 2 ms control cycle.

Tool Path Analysis and Motion Control of 3D Engraving Machine

  • Smerpitak, Krit;Pongswatd, Sawai;Ukakimapurn, Prapart
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1245-1248
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    • 2004
  • This paper presents a new technique to analyze data on the coordinate x, y, z and apply these data to design the motion control to improve the efficiency of the engraving machine so that it can engrave accordingly in 3 dimensions. First, the tool path on the x-y plane is analyzed to be synchronized with the z-axis. The digital data is then sent to the motion control to guide the movement of the engrave point on the x-y plane. Tool path moves along the x-axis with zero degree and different values of the y-axis according to the coordinate of the digital data and the analysis along z-axis to determine the depth for engraving. The depth can be specified from the gray level with the 256 levels of resolution. The data obtained includes the distances on x-axis, y-axis, and z-axis, the acceleration of the engrave point's movement, and the speed of the engrave point's movement. These data is then transfered to the motion control to guide the movement of the engrave point along the z-axis associated with the x-y plane. The results indicate that engraving using this technique is fast and continuous. The specimen obtained looks perfect in 3D view.

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A development of the automated system for adjusting the 6 D.O.F circular fixator

  • Jung, Sang-Gil;Park, Bum-Seok;Sim, Hyung-Joon;Jang, Jae-Ho;Han, Chang-Soo;Han, Jung-Soo
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1642-1647
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    • 2004
  • In this article, we present the development of the automated system for adjusting the 6 D.O.F circular fixator. The system includes scheduling software to adjust the Hexapod Circular Fixator (HCF) and an automated strut system with the ability of the multiple synchronized motion. HCF was designed to control a 6 degree-of-freedom Ilizarove fixator and it's mechanism is known as the Stewart Platform. HCF scheduler evaluates each value of altered length of the HCF struts to correct the complex skeletal deformity by using the X-ray data of the patient. The data of HCF scheduler feed into the automated strut system which be able to provide the scheduled adjustment and the automated strut is synchronized by input data.

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Implementation and Validation of EtherCAT Support in Integrated Development Environment for Synchronized Motion Control Application (동기 모션 제어 응용을 위한 통합개발환경의 EtherCAT 지원 기능 구현 및 검증)

  • Lee, Jongbo;Kim, Chaerin;Kim, Ikhwan;Kim, Youngdong;Kim, Taehyoun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.38 no.2
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    • pp.211-218
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    • 2014
  • Recently, software-based programmable logic controller (PLC) systems, which are implemented in standard PLC languages on general hardware, are gaining popularity because they overcome the limitations of classical hardware PLC systems. Another noticeable trend is that the use of integrated development environment (IDE) is becoming important. IDEs can help developers to easily manage the growing complexity of modern control systems. Furthermore, industrial Ethernet, e.g. EtherCAT, is becoming widely accepted as a replacement for conventional fieldbuses in the distributed control domain because it offers favorable features such as short transmission delay, high bandwidth, and low cost. In this paper, we implemented the extension of open source IDE, called Beremiz, for developing EtherCAT-based real-time, synchronized motion control applications. We validated the EtherCAT system management features and the real-time responsiveness of the control function by using commercial EtherCAT drives and evaluation boards.

An autonomous synchronized switch damping on inductance and negative capacitance for piezoelectric broadband vibration suppression

  • Qureshi, Ehtesham Mustafa;Shen, Xing;Chang, Lulu
    • International Journal of Aeronautical and Space Sciences
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    • v.17 no.4
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    • pp.501-517
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    • 2016
  • Synchronized switch damping (SSD) is a structural vibration control technique in which a piezoelectric patch attached to or embedded into the structure is connected to or disconnected from the shunt circuit in order to dissipate the vibration energy of the host structure. The switching process is performed by a digital signal processor (DSP) which detects the displacement extrema and generates a command to operate the switch in synchronous with the structure motion. Recently, autonomous SSD techniques have emerged in which the work of DSP is taken up by a low pass filter, thus making the whole system autonomous or self-powered. The control performance of the previous autonomous SSD techniques heavily relied on the electrical quality factor of the shunt circuit which limited their damping performance. Thus in order to reduce the influence of the electrical quality factor on the damping performance, a new autonomous SSD technique is proposed in this paper in which a negative capacitor is used along with the inductor in the shunt circuit. Only a negative capacitor could also be used instead of inductor but it caused saturation of negative capacitor in the absence of an inductor due to high current generated during the switching process. The presence of inductor in the shunt circuit of negative capacitor limits the amount of current supplied by the negative capacitance, thus improving the damping performance. In order to judge the control performance of proposed autonomous SSDNCI, a comparison is made between the autonomous SSDI, autonomous SSDNC and autonomous SSDNCI techniques for the control of an aluminum cantilever beam subjected to both single mode and multimode excitation. A value of negative capacitance slightly greater than the piezoelectric patch capacitance gave the optimum damping results. Experiment results confirmed the effectiveness of the proposed autonomous SSDNCI technique as compared to the previous techniques. Some limitations and drawbacks of the proposed technique are also discussed.

Reproduction of Arm Kinesthetic Sense in Virtual Environment Using Bilateral Control (양방향 제어를 이용한 가상환경에서의 팔운동감 제시)

  • 정웅철;민두기;송재복;김용일
    • Proceedings of the Korean Society for Emotion and Sensibility Conference
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    • 1999.11a
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    • pp.97-100
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    • 1999
  • Human feels kinesthetic sense in response to the force acted on him. In order to represent kinesthetic sense, a force is analyzed as mechanical impedance (i.e., stiffness or damping) and implemented by active impedance control. In this research, a 3-dimensional arm motion generator is developed to present various mechanical impedance characteristics to an operator. An introduction of virtual reality provides not only a visual effect in virtual environment but also the change in force synchronized with the visual effect in real time.

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Tele-Operation System for Excavator using LTE Communication (LTE 통신을 사용한 건설용 굴삭기 원격조종시스템 개발)

  • Lee, Seung Chol;Kang, Byoung Hun
    • The Journal of Korea Robotics Society
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    • v.16 no.3
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    • pp.232-237
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    • 2021
  • In this research, a real-time tele-operation system for unmanned excavator using the LTE communication system is suggested. The distance between the operator and the excavator is limitless as long as the LTE communication available. The motion and video data of the excavator is synchronized using the Vehicle Control Unit (VCU) and streamed to the operator for immersion feeling. The video is played on the operator's monitor and the motion data is used to regenerate the excavator movement on the developed master platform. In general, a excavator is tele-operated using RF signal and the maximum distance for direct control is limited to within a hundred meter. In this research, the immersion tele-operation system is suggested for excavator operation within an 100ms time delay using the developed master platform, the VCU and LTE communication. A successful test run of the suggested tele-operation system has already been performed between an operator in Songpa (Seoul) and a excavator in Ansan (Gyeonggi-do) which is approximately 35 km apart.

Effects of a Thera-Band Exercise Program on Pain, Knee Flexion ROM, and Psychological Parameters Following Total Knee Arthroplasty (슬관절 전치환술 후 세라밴드 운동프로그램이 수술 후 통증, 슬관절 굴곡각도 및 심리적 지수에 미치는 효과)

  • Yun, Ji Yeong;Lee, Jong Kyung
    • Journal of Korean Academy of Nursing
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    • v.45 no.6
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    • pp.823-833
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    • 2015
  • Purpose: The purpose of the study was to investigate the effects of the Thera-Band exercise program following total knee arthroplasty. Methods: The research design for this study was a nonequivalent control group non-synchronized design. Participants were 30 patients for the experimental group and 30 patients for the control group. The experimental group participated in the Thera-Band exercise program in addition to conventional CPM (continuous passive motion) exercise. The control group received conventional CPM exercise only. Outcome measures were pain, knee flexion range of motion, CRP, and psychological parameters (self-efficacy and fear of falling). Data were analyzed using ${\chi}^2$-test, Fisher's exact test, t-test, and repeated measure ANOVA with SPSS/PC version 21.0. Results: There were significant improvement in self-efficacy, and decreases in pain, and fear of falling in the experimental group compared to the control group. However, no significant differences were found between the two groups for CRP and knee flexion ROM. Conclusion: The Thera-Band exercise program gave an additional benefit over the conventional CPM exercise for patients following total knee arthroplasty, and is recommended for use as an effective nursing intervention for patients after total knee arthroplasty.