Chen Youdong

FPGA Implementation of Real-Time Ethernet for Motion Control

This paper provides an applicable implementation of real-time Ethernet named CASNET, which modifies the Ethernet medium access control (MAC) to achieve the real-time requirement for motion control. CASNET is the communication protocol used for motion control system. Verilog hardware description language (VHDL) has been used in the MAC logic design. The designed MAC serves as one of the intellectual properties (IPs) and is applicable to various industrial controllers. The interface of the physical layer is RJ45. The other layers have been implemented by using C programs. The real-time Ethernet has been implemented by using field programmable gate array (FPGA) technology and the proposed solution has been tested through the cycle time, synchronization accuracy, and Wireshark testing.

Trajectory planning based on latitude for painting on spherical surface

A latitude method for the trajectory planning of spraying on spherical surface is presented. The latitude method is used to optimize the time and coating thickness in the spray painting. The start curve, the velocity of the spray gun and the width between neighboring paths are the main factors to affect the final coating quality. Spray painting time is determined by the start curve of the gun, while selection of the velocity and width contribute to the coating thickness together. Based on the paint deposition model of flat surface, the deposition model on the cylindrical surface is derived. The start curve on the spherical surface is derived from the Bounding-Box method. The spray gun velocity and the width between neighboring paths are determined through the optical function in which the coating thickness is the optimized target. The simulation shows that the latitude method presented in this paper can solve the problem of the trajectory planning on spherical surface.

An organic, real-time middleware architecture for distributed industrial robot system

As the tasks in industrial robot area have became more and more complexity, several heterogeneous and homogeneous real-time robots have to work together to complete a complex task. To cope with the increasing complexity, the concept of middleware-based architecture has been advanced. In this paper, we present an organic real time middleware architecture named MIDDIE which is a service-oriented middleware. We designed and developed the MIDDIE platform that has real-time and organic properties. We adopt a trade-off Organic Mechanism, which has both the global Organic Manager and local Organic Manager — Robot Agent, to achieve self-configuration, self-optimization, and self-healing. The simulation experiment verified the MIDDIE feasible and its real-time and organic properties.

Embedded control system for industrial robots

This paper addresses the hardware and software platforms for the control system of industrial robots, which are developed for high-reliability, easy-expansibility and high-openness. In order to get high-reliability, the hardware of controller consists of microcontroller ARM (advanced RISC machines) and FPGA, the software system consists of a real-time operating system which manages robot hardware, executes path planning and data processing. The pendent employs an embedded Linux which performs display and programming. The controller architecture has three layers, each of which can be decomposed into further functional sub-modules which communication with middle layer for the openness. The entire system has been successfully developed, implemented and demonstrated for a industrial robot.