A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level contro...A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.展开更多
During the operation of complex process, such as oil production or refming, abnormal situations may occur, leading to an alarm flooding. Alarm flooding is the signalling of a large number of alarms in a few minutes, i...During the operation of complex process, such as oil production or refming, abnormal situations may occur, leading to an alarm flooding. Alarm flooding is the signalling of a large number of alarms in a few minutes, in such a way that it is impossible for the operator to attend to all alarms. On these occasions, it is usual that the operator leaves the alarm summary list and gets an analysis of the plant through the screens of the DCS （digital control system）, seeking to understand the situation. The alarm summary list ceases to be a useful tool. In such cases, the operator might have the aid of a filter that would present the highest priority alarms and other information associated with them, enabling him to gain a better knowledge of the situation. This paper describes the interface of a system aimed to help the operator to have a more comprehensive knowledge of the process （a better situational awareness） during process upsets that cause alarm flooding, recovering the utility of the alarm layer to the safety of industrial processes.展开更多
文摘A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.
文摘During the operation of complex process, such as oil production or refming, abnormal situations may occur, leading to an alarm flooding. Alarm flooding is the signalling of a large number of alarms in a few minutes, in such a way that it is impossible for the operator to attend to all alarms. On these occasions, it is usual that the operator leaves the alarm summary list and gets an analysis of the plant through the screens of the DCS （digital control system）, seeking to understand the situation. The alarm summary list ceases to be a useful tool. In such cases, the operator might have the aid of a filter that would present the highest priority alarms and other information associated with them, enabling him to gain a better knowledge of the situation. This paper describes the interface of a system aimed to help the operator to have a more comprehensive knowledge of the process （a better situational awareness） during process upsets that cause alarm flooding, recovering the utility of the alarm layer to the safety of industrial processes.
