Hybrid modeling and simulation for the design of an advanced industrial robot controller

Ferrarini, Luca; Ferretti, Gianni; Maffezzoni, C.; Magnani, G.

doi:10.1109/100.591645

Cited by 12 publications

(6 citation statements)

References 9 publications

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“…The integration step is called . For the robotic application here considered, such a method with the step around 1 ms has been proven to be sufficiently accurate, when compared with Simulink models and with the real (sampled) data drawn in specific experiments performed on the real system [4]. As for the devices , a common sampling time has been chosen for the simulation of all the control devices.…”

Section: B the Dynamic Simulation Techniquementioning

confidence: 99%

“…The main problems arising in the simulation of distributed control systems on a common personal computer for testing and validation purposes are due to the fact that a single processor, which works in a sampled-time sequential manner, has to emulate the behavior of "objects" running in real parallelism, like the system to be controlled and the many control devices, and "objects" running in virtual parallelism, like application modules on a single control device [4], [6], [11], [13]. In this framework, a rigorous approach implies the definition of a suitable number of devices for the measurement of time, often called clocks, each one with possible bias and measurement errors.…”

Section: B the Dynamic Simulation Techniquementioning

confidence: 99%

“…In this framework, a rigorous approach implies the definition of a suitable number of devices for the measurement of time, often called clocks, each one with possible bias and measurement errors. Moreover, the "objects" in real parallelism should be totally asynchronously simulated, with integration and sampling steps not necessarily subject to any mutual constraints (e.g., their ratio be an integer), which yields a major accuracy but also a major complication in the simulation of the mechanisms of data exchange [4].…”

Section: B the Dynamic Simulation Techniquementioning

confidence: 99%

See 2 more Smart Citations

A structured methodology for the design and implementation of control and supervision systems for robotic applications

Ferrarini

Carpanzano

2002

IEEE Trans. Contr. Syst. Technol.

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The adoption of a structured development methodology, based on a design cycle and on formal reference models, is a key issue to manage, possibly in a step-by-step fashion, the design of industrial control and supervision systems, as there are in modern robotic applications. In the present work, a development technique is illustrated, which extends some of the most relevant solutions and methods used to effectively deal with the design of complex control systems and integrates them into a structured methodology with analysis and simulation facilities. The main discriminating features of the presented framework are: the objectoriented approach, compliance with international standards for control software specification, hybrid dynamic models and automatic code generation. The development and implementation of a robot mission for a six degree-of-freedom manipulator is illustrated to highlight the benefits and advantages of the proposed methodology.Index Terms-Computer-aided control system design, development methodology, hybrid models, international standards, objectoriented paradigm, robot control.

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Section: B the Dynamic Simulation Techniquementioning

confidence: 99%

Section: B the Dynamic Simulation Techniquementioning

confidence: 99%

Section: B the Dynamic Simulation Techniquementioning

confidence: 99%

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A structured methodology for the design and implementation of control and supervision systems for robotic applications

Ferrarini

Carpanzano

2002

IEEE Trans. Contr. Syst. Technol.

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“…Ferrarini et al [4] have looked at hybrid position and force control for an industrial robot; they enable force control when contact is made, and turn it off when contact is broken. Their control is implemented in a distributed environment.…”

Section: Fieldbus-based Systemsmentioning

confidence: 99%

Decentralized, modular real-time control for machining applications

Yook

Tilbury²,

Chervela³

et al. 1998

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)

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In order to realize the vision of reconfigurable manufacturing systems, the machine tool hardware, as well as the software which controls it, must be constructed in a modular fashion. We envision that each hardware module, be it a single spindle, linear or rotary axis, or a multi-axis grouping, will have its own sensors as well as control hardware and software modules. When a set of modules are grouped together to form a machine, the control task may demand not only certain requirements for individual axes, but also have constraints on the coordination of interacting axes (as in a contouring application). Thus, the axis-level control modules, running on distributed processors with communication over a network, must be coordinated in an appropriate way to ensure that the desired task is completed with the highest possible speed and accuracy. This coordination gives rise to stringent constraints on both the control execution as well as the data communication between control modules.In this paper, we investigate several different architectures for a distributed control system for a reconfigurable machining system. We describe how the control requirements for a manufacturing control system map to temporal constraints on the data managed for the environment. We show how the various time delays associated with distributed architectures impact the performance of the control algorithms, and describe different types of communication protocols that can be implemented to meet the required deadlines.

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“…Based on above reason, the domestic and abroad experts are exploring the modeling and simulating method for the industrial robot to solve the complex calculating problem and make the result simple visual and reliable. [1][2][3][4][5] A modeling method for industrial robot is proposed. In it, the scaled coordinated system and revolution pair for every link of the articulated industrial robot is modeled based on UG system.…”

Section: Introductionmentioning

confidence: 99%

Modeling Method for Mechanism Configuration of the Articulated Industrial Robot

Liu

2013

AMR

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Modeling method for mechanism configuration of the articulated industrial robot is proposed. Each link of mechanism configuration is modeled by a type of variable coordinate system based on UG system. The variable coordinate system is changed with a type of variable kinematical parameter of the links. Thus the position and direction vector of terminal link by reference to frame at any time can be obtained by using inquiry command in UG system. The typical modeling example of the FANUC articulated industrial robot which possesses 6 rotation freedoms in space is as shown in figure. It is appearance that the Modeling method by this way is simple and the modeling result of the articulated industrial robot is visual, believable and reliable.

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Hybrid modeling and simulation for the design of an advanced industrial robot controller

Cited by 12 publications

References 9 publications

A structured methodology for the design and implementation of control and supervision systems for robotic applications

A structured methodology for the design and implementation of control and supervision systems for robotic applications

Decentralized, modular real-time control for machining applications

Modeling Method for Mechanism Configuration of the Articulated Industrial Robot

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