Experimental validation of a trajectory planning method with continuous acceleration implemented on a DSP-based motion controller

Qiang, Yanhui; Jing, Fengshui; Hou, Zhongsheng; Yang, Shu-Ping; Liu, Ying

doi:10.1109/wcica.2012.6358447

Cited by 3 publications

(1 citation statement)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Authors in [4] [5] proposed a multi-axis servo motor motion controller based on DSP. In this design, DSP chip communicates with upper computer through Dual Port RAM and receive feedback signal from servo driver.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of FFPIV Scheme for Closed Loop Motion Controller

Ngo¹,

Choi²,

Kim³

2014

ICA

View full text Add to dashboard Cite

To satisfy the requirements of motion control for industrial machine, a multi-axis motion controller based on DSP is developed in this paper. The motion controller consists of DSP which plays a main role in this design; DPRAM to make sure the rapid and reliable communication with host; FPGA to handle the task of address decoder and receiving feed-back encoder signal; and several peripheral logic circuits. In the part of hardware design, overall structure of motion control system is presented. Then, the Feed-Forward Proportional-Integral-Velocity (FFPIV) scheme which introduces KV in term of velocity loop to achieve the accurate, smooth and real-time response is proposed in the software developing part. The experiment data are carried out to indicate that this motion controller has advantages of superior performance and highly machining precision.

show abstract

Section: Introductionmentioning

confidence: 99%

Design and Implementation of FFPIV Scheme for Closed Loop Motion Controller

Ngo¹,

Choi²,

Kim³

2014

ICA

View full text Add to dashboard Cite

show abstract

Towards achieving a fully intelligent robotic arc welding: a review

Ogbemhe

Mpofu

2015

Industrial Robot: An International Journal

View full text Add to dashboard Cite

Purpose – The purpose of this paper is to review the progress made in arc welding automation using trajectory planning, seam tracking and control methodologies. Design/methodology/approach – This paper discusses key issues in trajectory planning towards achieving full automation of arc welding robots. The identified issues in trajectory planning are real-time control, optimization methods, seam tracking and control methodologies. Recent research is considered and brief conclusions are drawn. Findings – The major difficulty towards realizing a fully intelligent robotic arc welding system remains an optimal blend and good understanding of trajectory planning, seam tracking and advanced control methodologies. An intelligent trajectory tracking ability is strongly required in robotic arc welding, due to the positional errors caused by several disturbances that prevent the development of quality welds. An exciting prospect will be the creation of an effective hybrid optimization technique which is expected to lead to new scientific knowledge by combining robotic systems with artificial intelligence. Originality/value – This paper illustrates the vital role played by optimization methods for trajectory design in arc robotic welding automation, especially the non-gradient approaches (those based on certain characteristics and behaviour of biological, molecular, swarm of insects and neurobiological systems). Effective trajectory planning techniques leading to real-time control and sensing systems leading to seam tracking have also been studied.

show abstract