Abstract
A real-time joint controller oriented on collaborative robots (co-robots) using an embedded multi-core heterogeneous development board is proposed in this paper. The co-robot control system is composed of an ARM core running Linux-RT and a DSP running a real-time RTOS system, which ensures that the system kernel’s real-time performance is achieved. The inter-core communication is accomplished using the IPC component provided by Texas Instruments. The co-robot control tasks are assigned to different processors based on their characteristics. Based on this multi-core heterogeneous co-robot control system architecture, a joint compliance control algorithm based on admittance control was designed and discretized. The robot joint compliance control experiment was carried out on a single-joint co-robot platform. The results indicate that good performance on real-time, fast response, and compliance collaboration were achieved by the multi-core heterogeneous co-robot joint controller.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Zhao, X., Zhang, J., Qi, S.: Design and research of 6-DOF robot control system based on visual servo. In: 2019 International Conference on Intelligent Computing, Automation and Systems (ICICAS), pp. 556–559 (2019)
Xiao, Li., Gong, J., Chen, J.: Industrial robot control systems: a review. In: Wang, R., Chen, Z., Zhang, W., Zhu, Q. (eds.) Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019). LNEE, vol. 582, pp. 1069–1082. Springer, Singapore (2020). https://doi.org/10.1007/978-981-15-0474-7_101
Li, X., Ma, X., Song, W.: Multi-tasking system design for multi-axis synchronous control of robot based on RTOS. In: 2020 15th IEEE Conference on Industrial Electronics and Applications (ICIEA), pp. 356–360 (2020)
Delgado, R., Choi, B.W.: Network-oriented real-time embedded system considering synchronous joint space motion for an omnidirectional mobile robot. Electronics 8(3), 317 (2019)
Jung, I.K., Lim, S.: An EtherCAT based control system for human-robot cooperation. In: 2011 16th International Conference on Methods & Models in Automation & Robotics, pp. 341–344 (2011)
Fedak, V., Durovsky, F., Uveges, R., et al.: Implementation of robot control algorithms by real-time control system. Int. J. Eng. Res. Afr. 18, 112–119 (2015)
Xi, Q., Zheng, C.W., Yao, M.Y.: Design of a real-time robot control system oriented for human-robot cooperation. In: 2021 International Conference on Artificial Intelligence and Electromechanical Automation (AIEA), pp. 23–29 (2021)
Chuang, W.L., Yeh, M.H., Yeh, Y.L.: Develop real-time robot control architecture using robot operating system and etherCAT. Actuators (MDPI) 10(7), 141 (2021)
Zhou, Y., Li, Z., Zhang, Y., et al.: The real-time control framework for a modular snake robot. In: 2019 4th International Conference on Robotics and Automation Engineering (ICRAE), pp. 168–172 (2019)
Kangunde, V., Jamisola, R.S., Theophilus, E.K.: A review on drones controlled in real-time. Int. J. Dyn. Control 1–15 (2021)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Chen, Z., Ye, T., Zhang, X. (2023). Collaborative Robot-Oriented Joint Real-Time Control Based on Heterogeneous Embedded Platform. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_17
Download citation
DOI: https://doi.org/10.1007/978-981-99-6504-5_17
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6503-8
Online ISBN: 978-981-99-6504-5
eBook Packages: Computer ScienceComputer Science (R0)