Precision Control of Modular Robot Manipulators: The VDC Approach With Embedded FPGA

Zhu, Wen-Hong; Lamarche, Tom; Dupuis, Érick; David, José; Barnard, Patrick L.; Liu, Guangjun

doi:10.1109/tro.2013.2265631

Cited by 73 publications

(41 citation statements)

References 30 publications

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“…At the same time, the precise control problem is paid attention to in the development of weapons [2], electric drives [3], robotics [4], precise mechanics [5]. In general, few works are available regarding the problem of precise control in industrial automation.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Design of precise control systems of industrial plants

Stopakevych

Ulitska

2017

EEJET

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Section: Literature Review and Problem Statementmentioning

confidence: 99%

Design of precise control systems of industrial plants

Stopakevych

Ulitska

2017

EEJET

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“…Modular robotics (e.g., for humanoid robots), where the dynamics of each module are managed by a local embedded controller, can increasingly take advantage of the capabilities of current FPGA devices, as in [66], to achieve higher sampling frequencies (and, in turn, better performance) than centralized systems. The flexibility of FPSoC-based solutions adds to that of these modular systems, allowing robot structure to be easily modified, extended, or repaired, even in the field.…”

Section: B Advanced Control Techniquesmentioning

confidence: 99%

Advanced Features and Industrial Applications of FPGAs—A Review

Rodríguez-Andina

Valdes-Pena

Moure

2015

IEEE Trans. Ind. Inf.

137

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research interests include the design of SoC systems based on FPGA, focusing on signal acquisition and conditioning, signal processing, and wireless sensors networks for industrial applications.María J. Moure (M'99) is an Associate Professor at the Department of Electronic Technology, University of Vigo. Her research interests include the design of SoC systems based on FPGA, focusing on signal acquisition and conditioning, signal processing, and wireless sensors networks for industrial applications.

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“…A control concept based on communication between neighboring modules to provide modelbased distributed control is in [11], where authors stress that they achieve unprecedented tracking performance. However, in that work a comparison with the performance of a PID controller is discussed, and high performance model-based trajectory tracking controllers such as the inverse dynamics control [12,Sec.…”

Section: Introductionmentioning

confidence: 99%

On-the-Fly Control Design of Modular Robot Manipulators

Giusti

Althoff

2018

IEEE Trans. Contr. Syst. Technol.

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Abstract-We consider the problem of automatically designing model-based controllers of modular robot manipulators in a systematic way. Modular robots are especially useful in flexible manufacturing, where one wishes to quickly assemble robots from a set of modules for temporary tasks. The evaluation of all possible dynamical models is typically impractical, undermining the implementation of model-based control laws. Contrary to most other work that approached this challenge by designing decentralized controllers, we generate on-the-fly model-based centralized controllers after a new robot has been assembled. In this brief we extend the applicability of our previous work on this subject by considering both link and joint modules, assemblydependent friction effects and we finally present experiments that validate the overall approach.

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Precision Control of Modular Robot Manipulators: The VDC Approach With Embedded FPGA

Cited by 73 publications

References 30 publications

Design of precise control systems of industrial plants

Design of precise control systems of industrial plants

Advanced Features and Industrial Applications of FPGAs—A Review

On-the-Fly Control Design of Modular Robot Manipulators

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