Model-based development of robotic control systems

Fischmeister, Sebastian; Holzmann, M.; Menkhaus, Guido

doi:10.1109/icccyb.2004.1437650

Cited by 1 publication

(1 citation statement)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…PUMA robots adopt PDP-11 as the master computer and VAL as specific robotic language [5]. The closed structure limits the flexibility and expandability of robotic control system, and makes the system have bad transplant performance [6]. Thus, developing robotic control system with open structure has become a hot focus in the robotic study at home and abroad.…”

Section: Introductionmentioning

confidence: 99%

Design of DSP-based Open Control System for Industrial Robot

You

Liu

2007

2007 IEEE International Conference on Automation and Logistics

View full text Add to dashboard Cite

The closed structure of control system limits the flexibility and expandability of industrial robot. In order to improve the openess and transplant ability of the industrial robot control system, the DSP-based open industrial robotic control system is designed. The hardware and software are both designed in modular structure, which makes the system easy to maintain, expand and transplant. The fuzzy self-adjusting PID control & velocity and acceleration feedforward strategy is employed to improve the system's dynamic performance and the control precision. The dynamic link library (DLL) is developed with Microsoft Visual C++6.0 for the convenience of second development. Simulation shows the validity of the strategy adopted. The actual running proves that the system has good operating and dynamic performance, high control precision and perfect programming function, so it can meet the actual operating requirements completely.

show abstract

Section: Introductionmentioning

confidence: 99%