Calin Rusu

Optimal link design of a six degree of freedom micro parallel robot based on workspace analysis

In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms. It is concluded that the optimal design method is useful for the design of a six degree of freedom micro parallel robot.

Embedded motor drive prototype platform for testing control algorithms

Rapid prototyping is the typical method used by engineers to develop and test control strategies. The paper presents an Embedded Motor Drive test bench for developing and study energy efficient of motor drives. The prototyping platform system uses Matlab/Simulink and Target Support Package for TI C2000 toolbox. A real-time target controller eZdsp F2812 provided with a power stage inverter represents the hardware components since these can run multiple complex control algorithms. A graphical programming interface with hardware-in-loop design process for testing the algorithms is used. The hardware platform integrates the most recent digital signal processing technology and state-of-the-art design methods. Application performances of electrical drive require energy efficiency, flexibility, outstanding reliability and robust control. Servo drives with Permanent Magnet Synchronous Motors (PMSM) have wide industrial applications where the speed and torque responses at the high-performance operations are required. Most of the controllers are implemented by field-orientation control mode (FOC) since the method laid the motors at maximum theoretical performances. The PMSM control algorithms are tested in a rapid prototyping approach using Matlab/Simulink and the Real Time Workshop (RTW) toolbox. This low cost prototyping control system can be used as teaching tools in the most graduate-level courses in classical and/or modern control theory.

Real-time robust controlled driving system with permanent-magnet synchronous motor

This paper is concerned with robust vector control of a permanent magnet synchronous motor (PM-SM) using a fix-point DSP based computing architecture. Speed control systems are analyzed for different operation conditions. A hardware architecture was developed based on a TMS320C5x fixed-point processor, a PWM control unit realized in FPGA technology, an interfacing unit to the incremental encoder and A/D converters for the stator-phase current inputs, a high speed TDM-type serial bus and an emulating and debugging driver. The software was written in both, DSP-assembler language for acquisition and communication programs and in C language for the control algorithm computation. The computing system solution based on a minimal hardware configuration offers a flexible solution for different control strategies applied to a large scale of driving systems.

DC electrical drive control with fuzzy systems

This paper presents a solution to the problem of principle DC electric drives powered by static converters, at low speed and load torques. Maintaining control performance for a broad range of speed variation involves adjustment of system parameters depending on operating conditions. It is designed an adaptive algorithm based on fuzzy logic to meet these challenges. Finally, some simulation results with adaptive fuzzy engine are presented.

Developing embedded control system platform for testing PMSM drives

The paper presents an Embedded Motor Drive Prototyping test bench for developing and study energy efficient of the motor drives. The development platform uses an eZdsp target controller with power stage converter that employs Targeted Code Generation from Matlab-Simulink and the Target Support Package for the TI C2000 microcontrollers. Computer Aided Control System Design (CACSD) tools are used to generate real-time code automatically. The reason is to simplify the programming process by making it more graphical and thus more intuitive. Application performances of the electrical drives require energy efficiency, flexibility, outstanding reliability and robust control. Servo drives with Permanent Magnet Synchronous Motors (PMSM) have wide industrial applications where the speed and torque response with high-performance operations are required. The controller drives are implemented by field-orientation control mode (FOC) since the method laid the motors at maximum theoretical performances. A graphical programming interface with hardware-in-loop design processes is used for testing the algorithms controller. The performances are tested in a rapid prototyping approach using Matlab/Simulink and the Real Time Workshop (RTW) toolbox and represent a solution for educational purposes.

Control Method Comparison for Pneumatic Artificial Muscle Actuators

The artificial muscles are pneumatic actuators that have similar characteristics as the human ones. Major applications for the artificial muscles are haptic devices, as well as robotic hands. One of the important part in developing such mechanisms is the actuator control. Many control methods were applied to these muscles, but there are few comparisons between the efficiency of each method. This paper will present the implementation of PID control theory as well as On/Off with hysteresis methods to position an end effector using artificial muscles. The control method will be implemented in LabView environment, using a Compact Rio acquisition board. We will show that using PID control the positioning will be more accurate and done faster than using the On/Off controller.

Embedded toolbox for F24X DSK target microcontroller

This paper presents an embedded toolbox for F24X DSK Spectrum Digital system to be used for educational purposes and industrial applications. The synthesis, code generation and the implementation of the embedded control program are carried out on the host PC, under the Simulink. The target development system is connected on serial port to the host computer. The embedded toolbox is useful also for Rapid Control Prototyping and for Hardware-in-the-Loop Simulations. The full functionality of Matlab/Simulink can be used for parameters visualization without interrupting or impeding the real time control process of the F24X DSK microcontroller. Finally, the speed control application for a BLDC motor is presented in order to demonstrate the effectiveness of this real time embedded library.

Comparative evaluation of vector control versus direct torque control for PM-SM drives

Based on previous research experience proved by simulated and experimental results a comparative discussion about advantages and disadvantages of using Vector Control or Direct Torque Control for PM-SM drives is presented.

Development of a multifunctional robotic arm for in-pipe robots

The paper presents the development of an multifunctional robotic arm with application for in-pipe rehabilitation and maintenance activities. The robotic arm is the result of one semester work developed in 2015 International Cooperation Project by a multinational students research teams. In the paper the design process and performance evaluation of the proposed solution is presented.

Kinematics Investigation, Workspace Analysis and Actuators Design for a 2-DOF Redundant Parallel Robot

This paper discusses the inverse and forward kinematics problem for a 2-dof parallel robot with actuator redundancy. The reachable workspace of the robot is generated for a set of parameters and a solution for the actuators is proposed in the final.