Development of a control architecture for a parallel three-axis robotic arm mechanism using CANopen communication protocol

Lee, Fu-Shin; Lin, Chen-I; Chen, Zhiyu; Yang, Ru-Xiao

doi:10.1177/1063293x211001956

Cited by 3 publications

(2 citation statements)

References 32 publications

(34 reference statements)

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“…CANopen is a high-level communication protocol based on the controller area network. It includes a communication subprotocol and a device subprotocol and has often been presented in embedded systems and industrial controls [26]. The CANopen protocol usually consists of three parts: a user application layer, an object dictionary, and communication.…”

Section: Can Bus With Canopen Protocolmentioning

confidence: 99%

Control System of a Motor-Driven Precision No-Tillage Maize Planter Based on the CANopen Protocol

et al. 2022

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To reduce the cost of machinery and manual operation, greatly improve the efficiency of maize sowing, and solve the problems of slow sowing speed, unstable operation quality, and the difficult monitoring of the sowing process of traditional seeders, a control system for an electrically driven precision maize seeder based on the CANopen protocol was designed. In this system, an STM32 is used as the main controller, and the vehicle terminal is used to set the operating parameters, such as the spacing of sowing plants and the number of holes in the metering plate. The GPS receiver is used to collect the forward speed of the tractor. An infrared photoelectric sensor is used to monitor the working state of the seeder. In this study, tests were conducted on different evaluation indices. The results showed that the detection accuracy of the photoelectric sensor reached 99.8% and the fault alarm rate reached 100%. The qualified rate of sowing was more than 91.0%. Based on indoor test results, the qualified rate was higher when the grain spacing was larger. The field test showed, in terms of the seeding performance, that the control system had good stability. When the grain spacing was set to 20 cm and the operating speed was 6~12 km/h, the qualified index was more than 89% and the reseeding index was less than 1.93%. The variation in sowing performance between different monomers was small, and the seeding performance was good. The control system helps to improve the performance of the seeder.

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Section: Can Bus With Canopen Protocolmentioning

confidence: 99%

Control System of a Motor-Driven Precision No-Tillage Maize Planter Based on the CANopen Protocol

et al. 2022

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“…Three independent DC brushless motors on the fixed platform drive the three driving links, respectively, with their associated three-driven links, as shown in Fig. 2 24 . Hence, the three-driven links cooperatively displace the movable platform.…”

Section: Delta Robot Mechanismsmentioning

confidence: 99%

Controller Design for a Delta Robot Using Lagrangian Multipliers

Lee¹,

Lin²

2021

Preprint

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The novelty of this research is that the study utilizes Lagrangian multipliers for an articulated close-chain robot mechanism as time-varying states to augment an energy-based Lagrangian dynamic model, and the strategy facilitates the system computations while satisfying the forward/inverse dynamics and mechanism constraints simultaneously for the close-chained robot. Then, this article develops a controller based upon the augmented dynamics model for the Delta robot mechanism and drives its moving platform to track prescribed trajectories in space. As a result, the simulation results validate the effectiveness of the augmented system model in undertaking complex dynamics of close-chained robot mechanisms.

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Design and Motion Analysis of a Magnetic Climbing Robot Applied to Ship Shell Plate

et al. 2022

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The manufacture, maintenance and inspection of a ship involve a series of works on the ship shell plate, which were always seen as harmful for human operators and time-consuming work. The shipping industry is looking to replace manual work with automation equipment. A magnetic climbing robot that can omnidirectionally move on ship shell plate was presented in this paper. This article summarized the mechanical structure, control system, kinematic model, and autonomy of robot. The mechanical structure of the robot was inspired by bionics and adopted a wheel-leg hybrid locomotion system. In the control system of this robot, industrial control computer (IPC) was adopted as the core controller and brushless direct current servomotor was chosen as the actuating station. Finally, the motion analysis of the designed robot was performed. The results of the analysis show that the magnetic climbing robot adapted to the ship curved shell plate and crossed obstacles.

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Development of a control architecture for a parallel three-axis robotic arm mechanism using CANopen communication protocol

Cited by 3 publications

References 32 publications

Control System of a Motor-Driven Precision No-Tillage Maize Planter Based on the CANopen Protocol

Control System of a Motor-Driven Precision No-Tillage Maize Planter Based on the CANopen Protocol

Controller Design for a Delta Robot Using Lagrangian Multipliers

Design and Motion Analysis of a Magnetic Climbing Robot Applied to Ship Shell Plate

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