This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm ha...This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.展开更多
This paper introduces the architecture and implementation of an industrial robot control system,which is based on a singleprocessor structure,can run on general industrial computers.Owing to using Windows NT's rea...This paper introduces the architecture and implementation of an industrial robot control system,which is based on a singleprocessor structure,can run on general industrial computers.Owing to using Windows NT's real-time time performance and friendly user interface in one generalpurpose operating system.A three layer hierarchical system more scalable and flexible.Furthermore a communication and configuration system is implemented to make the control system scalable and flexible.展开更多
This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic c...This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic controller. Finally this paper gives some experiment results and conclusion.展开更多
A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control （MRAC） and digital signal processing （DSP） computer syste...A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control （MRAC） and digital signal processing （DSP） computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity.展开更多
A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning...A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.展开更多
Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controll...Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controller that based on Fuzzy and PID control method. The results of simulation show that the dynamic and steady performances of the intelligent controller are better than that of single PID or Fuzzy controller. This paper has made a detail theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time control software of high precisely and numerically controlled welding positioner, which has a good result in practice.展开更多
This paper expounds the necessity of applying real-time control in vision sensing and tracking system of welding robot and analyses the difficulty of welding image processing. Through experiments, a practical robot C...This paper expounds the necessity of applying real-time control in vision sensing and tracking system of welding robot and analyses the difficulty of welding image processing. Through experiments, a practical robot CO2 arc adaptive feedback tracking system is established. According to the analysing of current and voltage signals between welding torch and base metal, the image freezing time for TMS-32020 processor is determined, and the defect of dark image and serious splashes in CO, welding image are avoided. Thus welding image becomes clear, and digitalization of video signal is stability. Then, with adaptive threshold control the welding image binaryzation, 3×3 mean level filtration and 3×3 weighting mean level filtration in welding seam are processed.Furthermore, the deviation between the centre of welding torch and the seam welded is found out, even though there are much spatter in the welding image.At last, the end effector of the robot is controlled and a welding torch is carried to track the seam welded during arc welding.展开更多
How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model mus...How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.展开更多
文摘This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.
基金Supported by National Natural Science foundation of China (No. 69975014)
文摘This paper introduces the architecture and implementation of an industrial robot control system,which is based on a singleprocessor structure,can run on general industrial computers.Owing to using Windows NT's real-time time performance and friendly user interface in one generalpurpose operating system.A three layer hierarchical system more scalable and flexible.Furthermore a communication and configuration system is implemented to make the control system scalable and flexible.
文摘This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic controller. Finally this paper gives some experiment results and conclusion.
文摘A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control （MRAC） and digital signal processing （DSP） computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity.
基金This work was supported by the National High Technology Research and Development Program of China under Grant 2002AA422160 by the National Key Fundamental Research and the Devel-opment Project of China (973) under Grant 2002CB312200.
文摘A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.
文摘Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controller that based on Fuzzy and PID control method. The results of simulation show that the dynamic and steady performances of the intelligent controller are better than that of single PID or Fuzzy controller. This paper has made a detail theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time control software of high precisely and numerically controlled welding positioner, which has a good result in practice.
文摘This paper expounds the necessity of applying real-time control in vision sensing and tracking system of welding robot and analyses the difficulty of welding image processing. Through experiments, a practical robot CO2 arc adaptive feedback tracking system is established. According to the analysing of current and voltage signals between welding torch and base metal, the image freezing time for TMS-32020 processor is determined, and the defect of dark image and serious splashes in CO, welding image are avoided. Thus welding image becomes clear, and digitalization of video signal is stability. Then, with adaptive threshold control the welding image binaryzation, 3×3 mean level filtration and 3×3 weighting mean level filtration in welding seam are processed.Furthermore, the deviation between the centre of welding torch and the seam welded is found out, even though there are much spatter in the welding image.At last, the end effector of the robot is controlled and a welding torch is carried to track the seam welded during arc welding.
文摘How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.
