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1
McGrath, Timothy M. (Timothy Michael). "Influence of motion profile on estimating anatomical elbow joint axes using inertial measurement units." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/112472.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2017.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 166-170).
Current human motion measurement systems using inertial measurement units (IMUs) typically rely on precise alignment, static calibration poses, or dynamic calibration motions. Muller et al. recently proposed a method for online calibration of the human elbow anatomical joint axes via decomposition of angular velocity measurements. This thesis evaluated this calibration-free method in the context of two motion types. First, the method is evaluated with human-generated motions common to occupational rehabilitation, to investigate activities of daily living (ADLs) as online calibration motions. Second, the method is evaluated with parameterized sinusoidal motion, to investigate amplitudes and frequencies of motions that yield robust axis estimations. It was found for the axis of interest, high on-axis motion and low off-axis motion lead to precise axis estimation and high accuracy estimation of the pronation/supination elbow axis. Further, high off-axis motion and low on-axis motion yielded imprecise axis estimation and inaccurate estimation of both the flexion/extension and pronation/supination elbow axes. A comparative study of different filtering methodologies to the estimation of upper extremity human motion was also performed. Compared to a motion capture truth, the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) were found to perform similarly. An implemented particle filter (PF) was found to perform better than both the EKF and UKF, and on the order of accuracy of a manufacturers black-box algorithm. This work is the first to evaluate a particle filter in the estimation of human motion by inertial sensors. The particle filter was then subject to a sensitivity analysis of the error of its estimated 3D orientation to its underlying algorithm inputs, namely, the accelerometer and magnetometer uncertainties, and number of particles. Recommended operational levels for these parameters are reported. Future work will combine the Muller auto-calibration method, robust IMU orientation filters, and knowledge of appropriate online motions to develop an IMU bias correction method for long periods of measurement.
by Timothy M. McGrath.
S.M.
2
Basar, Feza. "Development Of A 3 Axes Pc Numerical Control System For Industrial Applications." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1022565/index.pdf.
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In this study, a three-axes PC numerical control system for industrial
applications has been developed. With this system, fast and cheap prototyping of
designed objects can be realized. The system consists of software and a hardware
which includes an XYZ positioning table and three step motors controlling this table.
A proper drive circuit for the stepper motors is utilized. The software digitizes two
dimensional drawings of three dimensional objects and generates the control signals
for the XYZ positioning table.
The software is developed under Microsoft Studio Visual Basic 6.0
environment regardless of the OS of the PC. The parallel port of the PC has been
utilized for generating the necessary control signals for the stepper motors.
3
Yazicioglu, Faruk. "Design And Implementation Of A Two-axes Linear Positioning System For Rapid Prototyping Applications." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608835/index.pdf.
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In this study, a two axes linear positioning system for testing and applying different rapid prototyping techniques was designed and manufactured. A cable/ pulley mechanism is utilized in the system for transmitting motion from motors into linear motion. Use of a cable/ pulley mechanism overcomes the problems resulting from the utilization of conventional drive systems like ball screws and decreases the
overall cost of the system.
The carriage elements of both axes were designed and manufactured by using investment casting. The molds used in casting were also designed and manufactured within this study. The designed system is controlled by a servo motion control system composed of a motion controller, DC servo motors and linear encoders. All elements of the motion control system were selected, integrated and programmed
within the scope of the study.
4
Hlobil, Jaroslav. "Multifunkční obráběcí centrum pro rotační i nerotační obrobky." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-379008.
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The content of this master’s thesis is the choice of a suitable concept for the multifunctional machining center for rotary and non-rotating workpieces and design and processing of one structural node of this machine. The structure of the work is divided into three parts. In the first part, the market analysis is carried out from which it follows to the second part and it is the choice of a suitable machine concept. The third part deals with its own design of the constructional structure of this machining center.
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Tatíček, Jiří. "Návrh vřeteníku odhrotovacího stroje." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232058.
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The aim of this thesis is design of deburring machine, focusing on the headstock, capable of aligning the front side and chamfering at the round bars. At the beginning is a short research design nodes, used in the construction of machine tools. As part of the work was done and the measurement of cutting forces to determine the load while standing. Work also includes a series of calculations to justify the use of selected components. The outcome of the work is also a 3D model.
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Carranca, Ricardo Luís d'Abreu Fernandes. "3D motion control with axis interpolation." Master's thesis, Universidade de Aveiro, 2012. http://hdl.handle.net/10773/10103.
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Mestrado em Engenharia MecânicaHá alguns anos que a automação e controlo entraram no mundo do entretenimento. A evidenciar este facto, tem-se assistido nos últimos anos a um aumento de soluções e inovações nesta área. Tal desafio resulta em grande parte, da exigência dos espetadores, com uma cada vez maior componente emocional, que deriva da transposição para a indústria do espetáculo, de façanhas extraordinárias, por exemplo com personagens importados do universo de heróis da banda desenhada. Este campo de criatividade, com efeitos visuais, tem aplicações no teatro, cinema ou concertos. A par destes desenvolvimentos, tem surgido a necessidade de evolução de equipamentos para simulação de vôos/saltos. Por este motivo, é objetivo desta dissertação estudar uma solução a nível de sistemas de controlo - software e hardware - capaz de satisfazer as necessidades dum sistema deste tipo. Para o sucesso de um projecto desta natureza é fundamental o controlo perfeito de movimentos e trajectórias complexas. O trabalho aqui desenvolvido centrou-se nestas temáticas, em especial, no desenvolvimento de um sistema de controlo capaz de simular cenas de vôo a três dimensões, com aplicabilidade na indústria do entretenimento.
Since a few years ago, automation and control became an important tool in the simulation of visual effects as part of the entertainment industry. In fact, in the last few years the number of solutions in this highly creative field has increased. A challenging vector for this arises from the spectators’ exigency, expecting to meet a quite high emotional experience rank when assisting for example to the performance of actors recreating the heroes of comics stories or even the incarnation of cartoons performers. Among these developments there is the need of upgrading the flying simulators. So, the aim of this dissertation is to study a control solution - software and hardware - capable of meeting the needs that a system like this requires. The very realistic materialization of complex trajectories with perfect motion control is a field of primary importance for the success of the project, therefore that thematic has been explored and developed. The work here developed focused on these issues, particularly in developing a control system capable of simulating flight scenes in three dimensions, with application in the entertainment industry.
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Erdem, Sezen. "Human Motion Analysis Via Axis Based Representations." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608815/index.pdf.
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Visual analysis of human motion is one of the active research areas in computer vision.
The trend shifts from computing motion fields to understanding actions. In this
thesis, an action coding scheme based on trajectories of the features calculated with
respect to a part based coordinate system is presented. The part based coordinate
system is formed using an axis based representation. The features are extracted from
images segmented in the form of silhouettes. We present some preliminary experiments
that demonstrate the potential of the method in action similarity analysis.
8
Fleisig, Robert V. "Motion command generation for multi-axis machining /." *McMaster only, 2000.
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9
Parks, Steven A. "Instantaneous axis of rotation for continuous human knee motion." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ADA333396.
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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer) Naval Postgraduate School, June 1997.Thesis advisor, Young W. Kwon. Includes bibliographical references (p. 117-118). Also available online.
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Chen, Changmin. "Motion control and synchronisation of multi-axis drive systems." Thesis, Loughborough University, 1994. https://dspace.lboro.ac.uk/2134/7360.
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Lowrie, Craig. "A three-axis accelerometer for measuring heart wall motion." Thesis, Heriot-Watt University, 2010. http://hdl.handle.net/10399/2394.
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This thesis presents the work carried out in the design, simulation, fabrication and testing of miniaturised three-axis accelerometers. The work was carried out at the Faculty of Science and Engineering at Vestfold University College (Tønsberg, Norway), the MIcroSystems Engineering Centre (MISEC) at Heriot-Watt University and in collaboration with the Interventional Centre at Rikshospitalet University Hospital (Oslo, Norway). The accelerometers presented in this thesis were produced to be stitched to the surface of human hearts. In doing so they are used to measure the heart wall motion of patients that have just undergone heart bypass surgery. Results from studies carried out are presented and prove the concept of using such sensors for the detection of problems that can lead to the failure of heart bypasses. These studies were made possible using commercially available MEMS (MicroElectroMechanical Systems) three-axis accelerometers. However, the overall size of these sensors does not meet the requirements deemed necessary by the medical team (2(W) 2(H) 5(L) mm3) and fabrication activities were necessary to produce custom-made sensors. Design verification and performance modelling were carried out using Finite Element Analysis (FEA) and these results are presented alongside relevant analytical calculations. For fabrication, accelerometer designs were submitted to three foundry processes during the course of the work. The designs utilise the piezoresistive effect for the acceleration sensing and fabrication was carried out by bulk micromachining. Results of the characterisaton of the sensors are presented
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Fragkopoulos, Christos [Verfasser], Axel [Akademischer Betreuer] Gräser, and Kai [Akademischer Betreuer] Michels. "Automatic motion of manipulator using sampling based motion planning algorithms - application in service robotics / Christos Fragkopoulos. Gutachter: Axel Gräser ; Kai Michels. Betreuer: Axel Gräser." Bremen : Staats- und Universitätsbibliothek Bremen, 2014. http://d-nb.info/1072158019/34.
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Du, Can. "Variable supply pressure electrohydraulic system for efficient multi-axis motion control." Thesis, University of Bath, 2014. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.633166.
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The conventional fixed supply pressure valve-controlled (FPVC) hydraulic actuation method is a simple way to obtain motion control of a multi-axis system. The energy dissipated by the relief valve and the control valves is the main cause of the low energy-efficiency (and consequent oil heating) in the system. To overcome this problem, some approaches have been investigated such as load sensing, separate meter-in-and-meter-out, switching control and electro-hydrostatic actuation. In this thesis, a load-prediction based energy-efficient electrohydraulic actuation system – variable supply pressure valve-controlled (VPVC) actuation is described and implemented. A two-axis robotic arm is used as an example plant. In this research, the VPVC hydraulic actuation system is implemented by a fixed capacity pump driven by a brushless servo-motor. The feed forward part of the VPVC controller predicts the minimum required supply pressure for the demanded motion to each joint of the robotic arm by assuming its control valve is fully open. It is based on the prediction of the required piston force for a given motion demand, by applying Lagrange's equations of the-second-kind. The supply pressure for the whole system is the higher one of the two load branches; the other one is controlled by the common valve throttling. The supply flow is varied by controlling the speed of the servomotor. The feedback control of the VPVC is simple PI control for the valves and P control for the motor speed. Although the VPVC method is demonstrated for a two axis system, it is applicable to systems with any number of axes. By using the variable minimum required supply pressure together with the maximum valve opening (and hence minimum throttling losses), the hydraulic energy-efficiency is improved compared with a fixed supply pressure valve-controlled (FPVC) system. Moreover, due to the feed forward control, the response has much less phase lag hence the dynamic error is much smaller than a conventional FPVC system with proportional integral position feedback control. Applied to a known plant, especially enough load information, VPVC provides a higher energy-efficiency and a higher accuracy of motion control. The simulation and experimental results have validated the advantages of the VPVC over the FPVC. The hydraulic power consumption comparison between VPVC and FPVC with the same sine wave motion demand showed that up to 70% saving was achieved by VPVC experimentally. If the energy loss via relief valve in FPVC is taken into account, the saving can be increased greatly. The experiment also showed that the VPVC brought a very quiet operating due to the minimum flow throttling and variable motor speed, whereas serious flow throttling and constant high speed of motor in FPVC. Very low noise is another significant benefit of VPVC over FPVC. All the dynamic errors in VPVC tests were smaller than in FPVC. They were within 6% of the total motion range, compared to 14% for FPVC. And the average dynamic errors of VPVC tests were within 1.5% of the total motion range.
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Mackay, Allen B. "Large-Displacement Linear-Motion Compliant Mechanisms." BYU ScholarsArchive, 2007. https://scholarsarchive.byu.edu/etd/901.
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Linear-motion compliant mechanisms have generally been developed for small displacement applications. The objective of the thesis is to provide a basis for improved large-displacement linear-motion compliant mechanisms (LLCMs). One of the challenges in developing large-displacement compliant mechanisms is the apparent performance tradeoff between displacement and off-axis stiffness. In order to facilitate the evaluation, comparison, and optimization of the performance of LLCMs, this work formulates and presents a set of metrics that evaluates displacement and off-axis stiffness. The metrics are non-dimensionalized and consist of the relevant characteristics that describe mechanism displacement, off-axis stiffness, actuation force, and size. Displacement is normalized by the footprint of the device. Transverse stiffness is normalized by a new performance characteristic called virtual axial stiffness. Torsional stiffness is normalized by a performance characteristic called the characteristic torque. Because large-displacement compliant mechanisms are often characterized by non-constant axial and off-axis stiffnesses, these normalized stiffness metrics are formulated to account for the variation of both axial and off-axis stiffness over the range of displacement. In pursuit of mechanisms with higher performance, this work also investigates the development of a new compliant mechanism element. It presents a pseudo-rigid-body model (PRBM) for rolling-contact compliant beams (RCC beams), a compliant element used in the RCC suspension. The loading conditions and boundary conditions for RCC beams can be simplified to an equivalent cantilever beam that has the same force-deflection characteristics as the RCC beam. Building on the PRBM for cantilever beams, this paper defines a model for the force-deflection relationship for RCC beams. Included in the definition of the RCC PRBM are the pseudo-rigid-body model parameters that determine the shape of the beam, the length of the corresponding pseudo-rigid-body links and the stiffness of the equivalent torsional spring. The behavior of the RCC beam is parameterized in terms of a single parameter defined as clearance, or the distance between the contact surfaces. The RCC beams exhibit a unique force-displacement curve where the force is inversely proportional to the clearance squared. The RCC suspension is modeled using the newly defined PRBM. The suspension exhibits unique performance, generating no resistance to axial motion while providing significant off-axis stiffness. The mechanism has a large range of travel and operates with frictionless motion due to the rolling-contact beams. In addition to functioning as a stand-alone linear-motion mechanism, the RCC suspension can be configured with other linear mechanisms in superposition to improve the off-axis stiffness of other mechanisms without affecting their axial resistance.
15
Myre, Richard. "A method for estimating the instantaneous axis of rotation of rigid-body motion /." Thesis, McGill University, 1992. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=61310.
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This thesis develops, validates and applies the Least-Squares Axis of Rotation (LSAR) method, a new method for estimating the position and orientation of a moving axis of rotation (AOR) of a three dimensional joint motion. The LSAR estimation method, which is more accurate and robust than previous methods, minimizes the sensitivity to measurement noise by using rigid-body motion constraints, multiple data samples per estimate and sound numerical methods. Results of simulations and in vitro experiments demonstrate that the LSAR method provides better results than the popular Reuleaux and helical axis methods. Furthermore, the parameters obtained with the LSAR method accurately predict the trajectory of arbitrary points of the rigid-body, given their initial position and orientation. An in vivo experiment studying the location of the AOR of the human ankle joint using the LSAR method is presented. The results show that the LSAR method estimates are compatible with published experimental data.
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Smith, David G. "Off-axis stiffness and piezoresistive sensing in large-displacement linear-motion microelectromechanical systems /." Diss., CLICK HERE for online access, 2009. http://contentdm.lib.byu.edu/ETD/image/etd3141.pdf.
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TAN, ZI-LIN, and 譚子陵. "Synchronization control of two-axes motion." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/83679188131434704109.
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Gao, Zheng Hung, and 高政宏. "A FPGA-Based Multi-Axes Motion Controller." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/12079899871336558806.
Full textAbstract:
碩士長庚大學
電子工程學研究所
96
Motion Controller based on FPGA has been developed in this thesis. The controller has been designed by Verilog Hardware Description Language and implemented on XILINX Spartan3 FPGA development board. Comparing with PC-Based motion controller, hardware implemented motion controller has the advantages of low-cost, high stability, parallel process, and infinitely reconfigurable. Furthermore, it can easily increase the operation frequency by changing crystal oscillator. The pulse output is achieved as high as 9Mpps in the operation frequency of 20MHz. The range of position pulse can be set from 1pps to 4,294,967,295pps (on 32-bit), and the range of velocity and acceleration/deceleration rate can vary from 1pps to 65535pps (on 16-bit). Under the ten thousand motion step driver, the resolution is 0.001mm with 0.69% offset error. We have successfully designed a FPGA-Based Motion Controller having four functions of T-curve trajectory, S-curve velocity profile, three axis linear interpolations, and two axis circular interpolations. The MATLAB and MODELSIM TOOL are used to simulate the waveform and data. In order to verify its practicability and accuracy, the system performance was tested by logic analyzer, digital phosphor oscilloscope, and X-Y-Z hardware platform.
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Chang, Shan-Yang, and 張孝陽. "A Study of 3-Axes Servo Pneumatic Motion Control." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/79938606050656516768.
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碩士國立成功大學
機械工程學系碩博士班
92
The purpose of this paper is finding a control rule, which can be application to 3-Axes servo pneumatic motion system.The control rule is include the method of pneumatic cylinder under loading position control and pneumatic cylinder trajectory tracking motion control.The 3-Axes servo pneumatic motion system is composed of a industry computer,computer interface card,linear scaler, pressure sensor, flow servo valve, press-type cylinder acturator and rodless cylinder acturator. For the position control,the performance due to static state position error,the paper use PD position controller with the static friction compsator.For the linear motion control, according to PD position controller with the velocity feedforward compsator,use the feedforword-feedback control loop to result the linear motion.For the arc motion control, the paper use the friction compensate,valve dead zone compsate and virtual spring effect compsate aim to pneumatic system simulate a mass-spring system to trajectory sinusoidal.The control rule apply in two-axed pneumatic system can be trajectory circle control.
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Chen, Min-Wen, and 陳敏文. "Finish Cut Motion Planning of a Virtual Axes Machine Tool." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/48118820061156327521.
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碩士國立臺灣科技大學
機械工程系
89
This work investigates the motion planning of a new virtual axes machine tool. The research focuses on the determination of the turning points on tool path, the twist angle of the tool axis and the coding of simulation programs. The optimal tool path planned is based on minimizing time of calculating turning points on the tool path. The best twist angle for the tool axis is corresponding to the configuration with minimum slider movement of which the manufacturing time will be significantly reduced. The coding of computer program provides an interface for data input as well as dynamic simulation output.
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Shen, Yi-Jun, and 沈奕均. "Design of Motion Parameter Tuning Methods based on the Matched Quasi-dynamics of Multiple Motion Axes." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/q87amg.
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碩士國立臺北科技大學
機電整合研究所
97
In recent, based on the requirements for industrial applications, CNC machine tools must provide capability of high-precision, high-speed, and high-stability motions for increasing machining quality. However, servomechanisms with driving servo packs usually limit the execution performances of motion control systems, and the machining quality of the applied CNC machine tools is thus limited during machining processes. Therefore, it is important to design motion controllers based on the conditioned servomechanisms to improve motion performances such that machining tools can provide high-quality and high-speed machining results. Traditionally, CNC machine tools control the servomechanism of each axis independently to reduce tracking and positioning errors such that the motion accuracy of the integrated servomechanisms can be thus improved. However, especially for high-speed motions, the independent servo control could not improve the contouring accuracy of the motion of the integrated servomechanisms because of the mismatched dynamics of servomechanisms. Therefore, in order to improve contouring accuracy in general multi-axis motion systems, the control parameters of the applied servo packs should be tuned to achieve matched dynamic characteristics among all the synchronous motion axes. However, tuning the motion parameters, in order to prevent motion axis from being destroyed by the machine, the motion command should use ramp, not step. In this paper, the tuning methods are considered for achieving the matched quasi-dynamics of the applied servomechanisms. Among present existing servomotor packs, it is difficult to design motion parameters systematically. However, tuning these motion parameters requires careful determination. Therefore, in this paper, we use two tuning methods for achieving tuning motion parameters. The one is taguchi method, which is use a small number of experiments to achieve motion parameters optimization and it uses the regression analysis to verify. The other is learaing automata method, which operates through interactions with unknown environments using a stochastic trial and error process. It also providers additional convergence information through probability destiny functions. In order to tune the motion parameters more effectively and faster, in this study, we also use taguchi method for confirming learning automata''s convergence parameters. Some simulations and experiments are executed on two axial motion systems to evaluate the proposed tuning method, and the results indicate that the proposed approaches can improve the motion accuracy of the applied servomechanisms.
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Lin, Tsong-Han, and 林宗翰. "Contour Errors Analysis for One Rotating and Two Translating Axes Coordinated Motion." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/71615079633805507544.
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碩士國立中正大學
機械工程所
95
Multi-axes machine tools have been used widely in aerospace, automobile and plastic industries nowadays. In order to achieve high accuracy, less cutting time, and machining variety, normally, we equip additional rotary axes on top of traditional 3 axes CNC machine tools. The Multi-axis CNC machine tools in this research are including rotary axes machine tools. The CNC machine tools have some advantages, but their coordinating motions produce extra contour errors, furthermore, produce inaccurate trajectory. This is the problem which we have to resolve for achieving high accuracy for multi-axis motion nowadays. The actual cutting trajectory for translating axes of CNC machine tools coordinated with rotary axes is no longer a straight line passing through two consecutive CC points and there might produce over-cut phenomenon. However, this kind of cutting contour errors will be produced different results according to different machine structures, the distance of CC point with respect to rotary axis center and the increment of rotating angles. This thesis focuses on the analysis of contour error produced from one rotating axis coordinated two translating axes on table-tilting CNC machine tools. In addition,we proposed a method by means of limiting maximum contour errors to plan the tool path,in order to limit the maximum contour error under a value by user defined. We proposed a method to calculate the maximum step length under the defined contour error, control the contour error under the definited accuracy requirement. Finally, we improve trajectory accuracy by means of shift method in this research.
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Lin, Wei-Chemg, and 林偉誠. "The Hardware Structure Design for s High Performance, Multiple Axes Motion Controller." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/63919696396545343449.
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碩士國立臺灣科技大學
電機工程研究所
84
In this thesis, we try to implement TMS320C31 in a multiple axes motion controller. This motion controller consists of five modules, namely, CPU and peripheral module, communication module, man machine interface (MMI) module, multiple motors control module and pulse width modulation (PWM) module. The CPU and peripheral module is the most important component of this controller. Base on this module, other circuits were de- veloped thereafter. The communication module includes an RS232 serial port, a 16 bits PC/AT ISA BUS parallel communication port and a 24 bits general-purpose communication port. The MMI module supports a set of LCD and a 5*5 keyboard for man-machine communi- cation, if necessary. The multiple motors control module receives motor feedback signals and generates driving commands for motor control. The PWM module generates six phase pulse width modula- tion signals to drive AC servo motors. In order to reduce the complexity of the circuit and the size of the board, some advanced, programmable integrated devices such as PAL (Programmable Array Logic), GAL(Generic Array Logic) and FPGA(Field Programmable Gate Array) are intensively implemented in the design. After the system was designed and assembled, it is thoroughly tested. The system has been proved to be able to work as we ex- pected.
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Shiuan-Chang, Lee, and 李炫璋. "Design and Implementation of A PC-Based Motion Controller for Multi-Axes Systems." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/03574227604094445331.
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碩士國立雲林科技大學
電機工程技術研究所
86
This paper presents design and implementation of A PC-Based motioncontroller for multi-axes systems. The system is divided into two parts:software and hardware. The software is to develop a visualized moduledesign of control algorithm. The procedure is to design and simulatethe control system under MATLAB-SIMULINK, and transfer the controlprinciple into C language through RTW (Real-Time Workshop). Compileprogram used c-language compiler can generate real-time control program.The whole operation is accomplished under Windows circumstance. The hardwareinterface contains D/A (digital to analog)、position and velocity recorder、interrupt generator、digital I/O and address decoder. The two experiments test the system. Using autotuning PID controllerto AC servo motor. Without plant parameter. the gain of controller can bemeasured automatically. The second part is the principle production ofadaptive control, and to apply its test on robot. Under the adaptivecontroller, it is no necessary to measure the parameter of robot, and canbe automatically evaluated by adaptive law.
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Yang, Kai-Hsiang, and 楊凱翔. "A Study on Motion Control of 3-axes Pneumatic Servo Micro-manipulation System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/76510452338369623408.
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碩士國立成功大學
機械工程學系碩博士班
97
The object of this paper is achieved the positioning control and path tracking control for the 3-axes pneumatic micro- manipulation system to achieve. Servo pneumatic system have the highly nolinear characteristics that are associated with high air compressibility,the friction force of the system,nonlinear behavior of the air flow rate through the valve at the null position of the valve,and the stick-slip effect. For positioning control, the hybrid self-tuning fuzzy controller with the gray predictior and fuzzy dead-zone compensators are proposed in this paper. For path tracking control, the cross-coupled fuzzy controller is designed to reduce the difference response of every axis. From the experimental results, in case of different position, the positioning accuracy can reach the 0.04 m. Moreover, the cross-coupled fuzzy controller can improve the accuracy of the path tracking control.
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Huang, Wei-Lun, and 黃偉倫. "Access and Positioning Control of Precise Single-Deck Dual-Axes Air-Bearing Motion Stage." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/73704857198038226923.
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碩士國立臺灣大學
機械工程學研究所
104
This thesis proposes a novel control framework, “Access and Positioning control”, which is designed to solve problems caused while switching between speed and position control. For example, since the bandwidth of speed and position controller are not consistent, switching between these controllers may induce unnecessary vibration. Moreover, for the best performance, the switching timing is hard to determine. “Access and Positioning control” focus on boosting the fluency of motion and shortening the time which it takes for the stage to arrive the demanded target. The proposed method also makes the control parameters adjust easily. The system is a dual-axes air-bearing motion stage system consists of linear motors. For simplicity, in this thesis the complex system is decoupled to three single input single output (SISO) systems. Since the system is unstable, the closed-loop system identification is required. To compensate the inadequate parts of mathematical models from SISO identification, the multiple input multiple output (MIMO) system identification is utilized after the controller is designed. In pure speed or position control, the Luenberger observer is installed to estimate the states, which is not able to be measured by sensor for the state feedback control to stabilize the system. In order to deal with the steady state error, an integrator control is implemented. The overall control structure is based on the Robust and Optimal control to calculate the constant control gains in CSD, restricting the H-infinite norm of the system in a specific range. Performances of both speed and position control are important, thus a simple control strategy which applies the speed control first and switch to position control when the stage is near the designed target. This method is named “Speed and Position Switching Control”. On the other hand, the “Access and Positioning Control” includes the reference speed and position for input signals together so switching between two control methods is not necessary. The performance of speed and accuracy can be controlled simultaneously. The experimental results confirm that for “Access and Positioning Control”, it takes lesser time to arrive the demanded target even the maximum speed is lower than the “Speed and Position Switching Control” since the fluency of motion is raised.
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Kuo, Fan-Chun, and 郭凡鈞. "Design and Analysis of Acceleration curve of Precise Single-Deck Dual-Axes Air-Bearing Motion Stage." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/3x4h8t.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
106
This thesis addresses the fundamental problem of design of acceleration curve so that it can deal with the infinite Jerk when system starts moving. This structure is based on giving the system a sudden speed command that requires a great deal of acceleration, and a sudden acceleration produces an infinite jerk. According to Newton''s second law, F=ma, this large acceleration can also cause a great load on the system. Therefore, the design of the acceleration curve is to make a continuous curve, not only let motion pro-cess maintain a smooth speed movement, but also make the Jerk a continuous finite val-ue, and reduce the load on the system. The system is a dual-axis air-bearing motion stage system consists of four perma-nent magnet brushless linear motors. For simplicity, in this thesis the complex system is decoupled to three(X, Y, Theta-axis) single input single output(SISO) systems. Because of the system is unstable, a closed-loop system identification method is used to identify the mathematical model. Finally, the transfer function of three(axis) single input, single output(SISO) system is obtained by using the embedded function, “Parameter estima-tion” under Simulink environment with time domain method. In control structure, mainly designing the continuous acceleration and deceleration curve first, and using the integral to get the position of time function. After obtaining the tracking curve of the position command which is position of time function, using PID controller and series control method to achieve the control target. Compared with the “Access and Positioning control” structure proposed by the lab team, the “Access and Positioning control” structure simultaneously inputs the reference position and ref-erence velocity, and the complicated operation makes the system’s H-infinite norm lim-ited to a range. Finally, using the augmented-Luenberger observer to compensate for the internal and external low-frequency disturbance. Design of acceleration curve structure uses simpler PID controller. If at the sacrifice of a short time to reach the location point, design of acceleration curve structure has a higher positioning accuracy and a lower maximum overshoot than “Access and Positioning control” structure. In angle control, the design of acceleration curve structure overall performance is better than “Access and Positioning control” structure. If at the sacrifice of maximum overshoot, design of ac-celeration curve structure has a higher positioning accuracy and a shorter time to reach the location point than “Access and Positioning control” structure. In angle control, the overall performance of design of acceleration curve structure is better than “Access and Positioning control” structure, too.
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Ching-Huei, Huang. "Evolutionary Neural Networks and DNA Computing Algorithms for Decoupling Control Design of a Dual-Axes Motion Platform." 2006. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0005-1508200616061600.
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Hung, Cyuan-Bao, and 洪詮堡. "A Study of Synchronized Planar Motion Error Measurement of the Rotating and Translating Axes of Machine Tools." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/57628700327901298067.
Full textAbstract:
碩士國立中興大學
機械工程學系所
105
The Five-axis machine tool in the multi-axis synchronous with each other will produce additional error, resulting in a larger contour error, In order to meet the high precision requirements, the machine tool must be adjusted to improve the accuracy of the machine, Five-axis machine tool and then add the rotation axis, the servo matching problem will be more complex, When the small error of the rotating axis will reduce its machining accuracy, in order to improve the accuracy of multi-axis machine tool, multi-axis synchronous error research has become very important. In this thesis, the measuring system contains a laser diode and a position sensor, the laser point is represent as the tool center point, and the position sensor is represent as the rotary table. By the MCU, ADC single chip module and Bluetooth chip module for wireless transmission to the PC side, through the program analysis of information. The system has the advantages of measuring two-dimensional arbitrary path and measuring linear axis and the rotation axis with the error, low cost, easy to set up. The purpose of this thesis is to improve the laboratory development of the measurement equipment used in five-axis machine tool, this system can be two-dimensional arbitrary contour dynamic measurement, and the five-axis machine with the machine error measurement, The instrument can be changed to set the way to complete the measurement, to reduce the time spent re-erection. This instrument performance test: the original signal noise amplitude between about 1μm beating, in addition to its resolution up to 1μm. In dynamic circle path test was measured at a feed rate of 100 mm / min, 500 mm / min, 1000 mm / min, 1500 mm / min feed rate at a feed rate of 100 mm / min, With a radius of 1mm circle path test, this measurement system in the feed rate of 100mm / min, the circular deviation of 0.0109mm, KGM measured circular deviation of 0.0085mm, The RMSE decreases from the original 3.0μm to 2.5μm at the feed rate of 1000 deg / min after adjusting the value of the linear axis and the rotating axis. The true roundness decreased from 14.5 μm to 12.4 μm, in any path measurement, the error rate is 6.0μm when the feed rate is 5000 deg/ min, the error is 8.4μm at the feed rate of 10000deg / min, and the static cutting phenomenon can be observed during the moving path. From the results of the measurement, we can see that the system is repeatable and the resolution of up to 1μm, can be used to measure the five-axis machine tool linear axis and the rotation axis with the error, the measurement of the rotation axis of any path-based instrument Advantage, to provide a simple equipment for the industry to detect the dynamic accuracy of the machine. The commercially available measuring instruments are expensive, erected and calibrated, and have not yet been added to the contours of the rotating shaft.
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Huang, Ching-Huei, and 黃清輝. "Evolutionary Neural Networks and DNA Computing Algorithms for Decoupling Control Design of a Dual-Axes Motion Platform." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/19264607616079455001.
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碩士國立中興大學
電機工程學系所
94
This thesis presents a new approach to deal with the dual-axes control design problem of a two-input two-output multivariable system with induction motors. Investigation of resolving the cross-coupling problem of dual-axes platform is addressed by a neural net-based decoupling compensator and a sufficient condition ensuring closed-loop stability is derived. An evolutionary algorithm processing the universal seeking capability is proposed for finding the optimal connecting weights of the neural decoupling compensator and the gains of PID controllers.. Extensive numerical studies verify performance and applicability of our proposed design under a variety of operating conditions.
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Chou, Chen-Kuan, and 周陳寬. "Trajectory planning for multi-axis motion control." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/97060180624838998492.
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碩士國立雲林科技大學
電機工程系
102
In this thesis has been integrated Point-to-Point motion and contour motion into more complete trajectory planning. Machine tool's demand as time goes by increase, Machine's requirement transforms simple point processing into complex path constraint contour processing, the basic theory of Trajectory planning transforms Point-to-Point motion into contour motion, but the contour motion's algorithm is more complex, so burden the massive calculation. However, the main condition of across the more complex algorithm is CPU's Performance increase, even maybe use hardware acceleration. In this thesis have two types. One is Point-to-Point motion that used T-Curve and S-Curve. Another one is contour motion that used PVT based on cubic Hermite interpolation. And then implement it and pass through packaged into easier use tools.
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Liu, Chin-Ju, and 劉錦育. "Adaptive motion control of single-axis servomechanism." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/65151811782943923359.
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Zhang, Ming-Kai, and 張銘凱. "Multi-axis Motion Control of Trajectory Planning." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/46064709718039563906.
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碩士國立雲林科技大學
電機工程系
103
This thesis develop an architecture which integrate Point-to-Point motion and contour motion into Trajectory planning, and can work with DSP. Machine's requirement transforms simple point processing into complex contour processing with the progress of the times. The basic theory of Trajectory planning transforms Point-to-Point motion into contour motion, but the contour motion's algorithm is more complex. However, contour motion can be realized now, the major cause is CPU’s performance increased even use hardware acceleration. This thesis has two types. One is Point-to-Point motion that used T-Curve and S-Curve. Another one is contour motion that used PVT which is based on cubic Hermite interpolation and Spline which is based on cubic Spline interpolation. Then implement it.
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Lin, Ying-Jie, and 林盈傑. "Trajectories Planning For Multiple Axis Motion Control." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/7qd6ce.
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碩士國立雲林科技大學
電機工程系碩士班
96
The thesis is mainly developed to be suitable in gauge tool machine of motion control system. The development of machine technological has changed with the production state all the time. In the future, the manufacturing industry development tends to give priority in the high production and the high efficiency primarily. Therefore how to reduce the coordinate measuring time as well as enhance gauging surface precision has become the important consideration. In order to make the function of measuring equipment move fast and smoothly on time. This thesis calculate the data of position, speed, and acceleration by giving the order of position direction to the PMAC2A researched and developed of Deltu Tau Data System company. In order to cause the measuring means function more fast and stable migration at once , the thesis issues PMAC2A of the position instruction by way of writing motion program by PC to control card, operates materials and so on position, speed as well as acceleration by trajectories planning for motion control to insert, and in order to propel machine by way of the PCI interface to communicate F2812 digital control card . Performs the detail interpolation by way of (path way plan law), makes bridge of the communication by way of the PCI bus to deliver again to the F2812 zero control card actuates the machine .In addition the man-machine interface with MATLAB analyzing displacement, speed curve and the acceleration waveform. The path plan anticipated finally in the event.
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Chen, Xin-Yi, and 陳歆怡. "Motion Identification Based On Multi-axis Sensors." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/86a7mz.
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碩士國立臺灣海洋大學
電機工程學系
106
Motion capture is currently a popular technology extensively applied in movies, sports, medicine, and military, and can be achieved through optics, ultrasound, magnetics, and inertia. However, commercial motion capture systems in the market are usually expensive and not suitable for use in daily life. Sports usually cause some injury, but improper pose and force make it extremely likely to cause a sports injury. Mild sports injuries are hard to detect when they occur, and pain is only felt when the muscles are used again a while after they stopped playing the sport. This pain may make most people unwilling to engage in sports again. Combining the two requirements above, this study uses straight ball in bowling as an example, and designs a dynamic posture capture system, which uses cheaper inertia sensors and wireless transceivers, and provides information on the angle of motion that is captured on a mobile device. A dynamic model is drawn for users to examine their pose during sports. In this study, only a gyroscope and accelerometer are used to correctly calculate the angle of pose. Environmental factors have a lower effect compared with magnetic sensors. The correct pose is first recorded in the mobile device and the user places the inertia sensor at a joint, going into T-Pose for positioning to calculate the initial position. Numerical values are then calibrated and optimized. T-Pose is the pose with the body standing up straight and arms extended out from both sides. The data is transmitted to the mobile device and converted into an image for users to examine if their pose is correct, allowing them to correct their pose. This study combines bowling with motion capture technology and allows comparison with the correct sports pose. Users only need to use their mobile device for practice and training. This system has no time and location constraints when gathering data for analysis and correcting poses. This allows users to make their bowling motion more fluid and avoid sports injury at the same time.
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Kuo, Chia-Heng, and 郭家恆. "Development of Motion Control System Applied on Multi-axis motion-sensing Platform." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/7wk9qp.
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碩士國立中山大學
機械與機電工程學系研究所
107
In this thesis, Visual Studio C # is used as software development tool to establish a PC-based motion control system with commercially available motion control card. This is employed as the master controller for crank-links multi-axis motion-sensing platform. Servo motors, drivers, and reducers are integrated as the driving source in this crank-links platform system. Ethernet Control Automation Technology (EtherCAT) serial-transmission mechanism is utilized as the servo communication of these servo modules. To meet the operability of the user’s demand, the specific application programming interface (API) commands for motion control system are used to build the human machine interface. There are several testing functions established in this HMI for users including the system initialization, motion status feedback, security warning, etc. Inertial Measurement Unit (MPU-6050) is utilized for monitoring the slope of motion-sensing platform. With the evaluation of platform mechanical inertia and the driving modules, the optimized proportional-integral (PI) controlling parameters are calculated by simulating software. To enhance the response of the system, Cascade rule is imported to design PI controlling parameters. Compared with Auto-tuning, the step response simulation and experiments of velocity loop and position loop are tested in time domain. The response and motor bandwidth are improved effectively with parameters designed by Cascade rule. In the motion platform testing part, with the optimized parameters and using of Kalman filter algorithm, the platform angle measurement error is reduced 30% while rotating. At the final, test the control command and platform motions. The angular error of pitch motion is 0.596°; roll motion is 1.321°, and distance error of heave motion is 1.664 cm.
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Lin, Sin-You, and 林信佑. "Multi-axis Motion Platform Controller Design Based on the Motion Cueing Simulation." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/24071846265349312968.
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碩士國立交通大學
電控工程研究所
102
In this thesis, a 3 degree-of-freedom (DOF) motion platform with extensible screw bars actuated by servo motors is designed for the motion-cueing simulator with low cost and easy maintenance. Moreover, the classical washout filter can be adopted for generating equivalent acceleration by varying the posture of motion platform. Then, the inverse kinematics is processed for converting the posture of motion platform to the reference signals for three servo motors of the motion platform. The accurate components of gravity on the tilt-surface of 3-DOF motion platform generate desirable motion cueing and its precision has been significantly improved by applying the lead controller and the zero phase error tracking controller (ZPETC), separately, on each axis. Furthermore, to extend motion-cueing control to a 6-DOF platform, the contouring error results in the deviation from the desirable path of the motion platform and the false cue thus occurs. The contouring error was effectively reduced by introducing the cross-coupled controller (CCC) with the lead type controller to obtain the improved contouring accuracy. The integrated control structure with both the tracking and contouring accuracy has been proved to be suitably realized on the 6-DOF motion platform for future development.
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Manavi, Kasra Mehron. "Medial Axis Local Planner: Local Planning for Medial Axis Roadmaps." Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11191.
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In motion planning, high clearance paths are favorable due to their increased visibility and reduction of collision risk such as the safety of problems involving: human- robot cooperation. One popular approach to solving motion planning problems is the Probabilistic Roadman Method (PRM), which generates a graph of the free space of an environment referred to as a roadmap. In this work we describe a new approach to making high clearance paths when using PRM The medial axis is useful for this since it represents the set of points with maximal clearance and is well defined in higher dimensions. However it can only be computed exactly in workspace. Our goal is to generate roadmaps with paths following the medial axis of an environment without explicitly computing the medial axis.
One of the major steps of PRM is local planning: the planning of motion between two nearby nodes PRMs have been used to build roadmaps that have nodes on the medial axis but so far there has been no local planner method proposed for connecting these nodes on the medial axis. These types of high clearance motions are desirable and needed in many robotics applications. This work proposes Medial Axis Local Planner (MALP), a local planner which attempts to connect medial axis configurations via the medial axis. The recursive method takes a simple path between two medial axis configurations and attempts to deform the path to fit the medial axis. This deformation creates paths with high clearance and visibility properties. We have implemented this local planner and have tested it in 2D and 3D rigid body and 8D and 16D fixed base articulated linkage environments. We compare MALP with a straight-line local planner (SL), a typical local planer used in motion planning that interpolated along a line in the planning space. Our results indicate that MALP generated higher clearance paths than SL local planning. As a result, MALP found more connections and generated fewer connected components as compared to connecting the same nodes using SL connections. Using MALP connects noes on the medial axis, increasing the overall clearance of the roadmap generated.
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Chien, Wei-Nan, and 簡瑋男. "The Development of Motion Controller with Communication Interface for Multi-Axis Motion Platform." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/56019117748596015236.
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碩士國立勤益科技大學
電機工程系
102
In this study, we design a motion controller with communication port on a Field Programmable Gate Array (FPGA) chip. Two units are designed on the chip, arithmetic function and motor drive system. The arithmetic unit is mainly constructed by MC 8051 IP, and is used to program the route and execute the communication with host PC. Motor drive system includes the Digital Difference Analyzer (DDA), step signal generator module, current control module, universal asynchronous receiver/transmitter (UART) and timer module. The motion routes are generated by CAD/CAM (Computer Aided Design /Computer Aided Manufacture) system as numerical control code (NC Code). Furthermore, we adopt Borland C++ Builder (BCB) to design a user interface (UI) to read the NC code, and transfer the NC code to the motion controller in FPGA through the UART port. And then the motion controller determines the motion route according to the NC code, and passes the step signals to the stepping motor drive system to drive the motor. Finally, simulations and experiments are made to verify the performance of the developed motion control system.
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Yang, Yu-Li, and 楊郁莉. "9-Axis Motion Sensor Fusion and Its Applications." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/45737319488886065223.
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碩士國立中央大學
資訊工程研究所
100
Typical motion sensors include accelerometer, gyroscope and magnetometer. In past application we usually use single type sensor. But in recent years, a lot of electronic products are developed rapidly and usually combined with many sensors. Therefore the sensor fusion issue becomes more and more important. In this thesis we proposed the intelligent sensor fusion method regarding the different situations and motion properties. We use PNN to estimate and adjust the parameter of 9-axis motion sensor fusion. And then we can use these information for complementary of other sensor to improve the insufficient part ( ex: real-time calibrating the gyroscope bias drift). In the experiments we can get more stable and accurate motion data by intelligent fusion system. In conclusion, intelligent fusion system of 9-axis motion sensor can increase the system performance, including accuracy, resolution, stability and response time. In the same time it reduces the complexity of developing application system in detecting motion.
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Wang, po-hui, and 王博暉. "Motion Control of The Seven Axis Robot Arm." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/12984125880963528757.
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碩士國立雲林科技大學
電機工程系碩士班
100
This thesis develops a seven axis robot arm using NI motion controller card, Maxon Motors, and Maxon drivers and programs the motion trajectories of multi-axis with high precision ball screw, vision processing. Users can use remote controller to control the robot arm via wireless RF interface. First the thesis develops a robotic arm with stability, high precision, multi-functional operation and programs motion trajectories. For the assigned tasks the robotic arm uses the information of motor encoders and the limite of maximal movement to program the motion path. Using a single join controller finishes point to point controll on the user interface. The arm can catchs,various shape objects according to the real-time image signal. The robot arm can programs motion path of each joint or Cartesian coordinates system to complete some difficult tasks, such as writing, drawing and dominoes formation, etc.
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Jiang, Ming-Zhen, and 江銘振. "Multi-axis motion control platform of high efficiency." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/17762427153675166412.
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碩士國立雲林科技大學
電機工程系碩士班
94
This paper presents an automatic DSP-Based identification system for parameters, to validate the transfer function model of unknown system. The sinusoidal testing signal parameters, such as frequency range, amplitude and sampling period, are defined by the user. The testing signals enter the unknown system, and the frequency response collected at the output ports is analyzed based on the mathematical theorems. Finally, the parameters of the transfer function are identified. Therefore, there is no additional measuring equipment is needed to analyze the system dynamic model. The software is to develop a visualized module design of mathematical algorithm. The procedure is to design and simulate the control system under MATLAB and SIMULINK, and turn the control principle into C language through RTW (Run Time Workshop). Compile program used C-language compiler can generate real-time control program. The whole operation is accomplished under Windows circumstance.Besides, I also develop a unit of Multi-axis motion control platform of high efficiency(contain Motherboard、MOTION_AD_DA、MOTION_IO card) which estimate identification platform for parameters. The motion control platform certainly communicate with USB interface and PC , and can communicate with each other with PCI interface. I can insert a piece digital control card of C6713 and F2812 , which operate multi-axis motor control. Moreover, I discuss motion trajectory among point-to-point which include polynomial、S-curve、Linear and arc curves plan etc. The curve simulation in the follow trajectory motion compare with Linear、Newton、Lagrange、Hermite、Spline interpolation.
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Chang, Shu-Han, and 張書菡. "Hand motion operated 6-axis robot arm manipulation." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/jgp6eu.
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碩士國立臺灣科技大學
機械工程系
103
In this thesis, 3D displacement information of the featured glove is captured by Kinect and the Euler’s angles of the operator’s wrist are postured by LPMS-B 6-axis acceleration sensor (from L-P Research) immediately. After that, the 3D displacement information is integrated with Euler’s angles into the integral 6-axis information for defining the real-time end-effector position and posture in the robot arm tele-operation. Furthermore, the featured glove was equipped with an Arduino circuit for controlling the on-off operation (grasping or releasing object) of the gripper on the end-effector. This innovative system can be used to control the 6-axis robot arm to operate a randomly-positioned object without pre-teaching. This technique is particularly suitable for operating randomly-positioned objects by using multi-axis robot arm. The operation is intuitive, without the time-consuming teaching process, save time, and increase efficiency. The new system can also be used in generating trajectories for some hard-to-teach or high time-consuming object operations. The trajectory produced by the hand posture operation can be subsequently used on repeated object operations. This is a valuable tool for some hard-to-teach assembly tasks.
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LIN, JING-HAN, and 林敬涵. "Motion Planning of The Seven-Axis Robot Arms." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/2ymvv2.
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碩士國立雲林科技大學
電機工程系
105
This thesis designs a seven-joint robot arm, and uses the Mitsubishi Q series programmable controller to program motion control and the gripper. The gripper is driven by a pressure control element to catch the assigned object . The supervised computer combines the Asus Xtion Pro Live to do image processing. The somatosensory detectors with computer to transmit images data to the PLC and control the robot arm. The X-axis and the simulated human arm of the robot arm are controlled by Mitsubishi positioning module (QD77MS4) ,uses AC servomotor and driver devices as its drive system ,and the motion planning control by programmable controller, final we match up with man-machine interface to reach the control function of point to point and continuous path control. In this thesis, we will apply the robot arm on screw nut classification, locking the screw and writing on the a for testing and verifying the mission.
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LIN, JUN-MING, and 林俊銘. "Computer Aided Design Multi-Axis Motion Control Platform." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/8qb42h.
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碩士國立雲林科技大學
電機工程系
107
With the advancement of technology and the advancement of the industrial automation industry, the requirements and precision of the machine tool are gradually increasing. Therefore, it is increasingly important to select the machining mode and the trajectory mode. The purpose of this paper is to design a computer-aided manufacturing machine with coffin manufacturing and material reduction manufacturing capabilities that can parse various CAD output file formats and convert them into G-Code commands, and design a programmable and controllable motion controller. This paper is divided into three parts. The first part is the self-made human-machine interface of the upper layer. It is responsible for setting user parameters and parsing CAD file format and converting it into G-Code command, and monitoring the three-axis motion control platform by monitoring window. Process the path and communicate with the lower layer. The second part is the V8 core board, which is mainly responsible for controlling the motor, receiving and parsing the G-Code command and the trajectory planning calculation. The third part is the motion control platform, which consists of two synchronous motors and one stepping motor. It mainly tests the above theory.
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Wu, Yao-Wei, and 吳曜瑋. "Six-Axis Motion Recognition Applying to Smart Toothbrush." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/16743400337339331355.
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碩士國立中央大學
資訊工程學系在職專班
104
Smart toothbrushes can be designed to monitor tooth brushing procedures to facilitate the maintenance of dental health. This necessitates a monitoring mechanism that identifies proper tooth brushing regions. In this study, an improved technique for identifying tooth brushing regions was proposed. First, a median filter was used to attenuate sensor noise and control irregular high-frequency tooth brushing motions, thereby reducing angular surges during detection and obtaining as precise of tooth brushing motion characteristics as possible. Then, a probabilistic neural network (PNN) was applied to identify tooth brushing regions. The experimental results showed that, compared with the conventional k-means algorithm, the PNN was more effective at classifying tooth brushing regions to enable users to monitor their tooth brushing more precisely. The proposed technique can be integrated through smartphone gateways to cloud services to collect real-time tooth brushing data for application in the development of remote dental healthcare and dental disease prevention services.
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Chen, Chia-Han, and 陳佳漢. "Trajectory Control Design for Multi-Axis Motion Platform." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/80493176545622252629.
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碩士國立雲林科技大學
電機工程系
102
A PC-Based 3-axis XYZ control system is developed in this thesis. The Real-Time Workshop (RTW) tool in Matlab/Simulink software is used to execute the motion control. The time domain system identification method is applied here to obtain the X-axis and Y-axis system model. The Ziegler-Nichols rule is used to design the PID controller parameters. We also develop a Visual Basic software interface to control the platform with ADLINK motion control card. The P-command and V-command mode control are designed to evaluate the system performances. Four contour trajectories, like square, triangle, star and circle, are conducted successfully. It is shown that our proposed method provide the better performances on average tracking error and standard deviation for different contour tracking.
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"Tests of inter-hotspot motion and of hotspot motion relative to the spin axis." Thesis, 2010. http://hdl.handle.net/1911/62159.
Full textAbstract:
First, an updated Pacific paleomagnetic skewness pole for chron 32 (72 Ma) is presented. The updated paleomagnetic pole corrects for the spreading-rate dependence of anomalous skewness, a correction which hasn't been applied to Pacific skewness poles before. The presence of anomalous skewness is one of the main factors limiting the accuracy of paleomagnetic poles determined from the skewness data. Thus, successfully correcting for the anomalous skewness, as was done in this study, significantly improves the reliability of the skewness poles. The earlier assertions that the Hawaiian hotspot has shifted southward relative to the spin axis by 13° since ≈72 Ma are also confirmed. Second, updated reconstructions of the Pacific plate relative to the hotspots for the past 68 million years are presented, with the uncertainties in the reconstructions. Plate-circuit reconstructions are used to predict the tracks of some major Indo-Atlantic hotspots (Tristan da Cunha, Reunion and Iceland) from the Pacific-hotspot plate motion and the rates of relative motion between the Pacific and Indo-Atlantic hotspots are estimated. Within the uncertainties, motion between the hotspots is found insignificant for the past 48 million years. For earlier times, a systematic error in the plate circuit used to make the predictions is inferred and which may be due to unmodeled motion between East and West Antarctica. If the observed discrepancy can be shown to correspond to an error in the plate circuit, the southward motion of the Hawaiian hotspot of 13° since ≈72 Ma can likely be attributed to true polar wander. Building on the above-mentioned work, finally, for the first time, a globally self-consistent model of plate motions relative to the global hotspots for the past 48 million years is presented, and the implications of this model to the question of relative hotspot motion discussed. The provided globally self-consistent set of reconstructions can be used as a fixed frame of reference for absolute plate motions, and true polar wander, for the past 48 million years.
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hung, Chang Shih, and 張世宏. "Study on Path Planing for Multi-Axis Motion Controller." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/77902524632575722502.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
87
The study aims to provide complete knowledge about the motion controllers command generator, including the design principle, method and procedures. In this paper, multiple axes motion controller with high performance TMS32C31 and I/O card is designed and proved. Motion controllers command generator including two parts, acceleration/deceleration and path planning. In acceleration /deceleration, using S-Curve and linear blended velocity plan make change of velocity more smooth and lower counter error. In path planning, beside basic linear and circle interpolator, we added higher Hermite、Bezier、B-Spline and NURBS curves who make motion path more smooth. Combined tool offset and coordinate transformation of NC basic functions. Using fine interpolator make less calculation time on path planning In the end of chapters，we test all of path planning. We explain and test the path of command generator right or not by using example program. As a result of experimentation, the motion controller proved good performance in path planning.
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Yau, Wan-Chin, and 姚文欽. "Study on Intelligent Control for Multi-Axis Motion Controller." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/37137856559283310255.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
87
Abstract The purpose of this thesis is to provide plenty control theories using in multi-axis motion controller with achievement、analysis and research. And proved the feasibility and its performance of plenty control theories using in multi-axis motion controller. In general, the contents of motion control can divided in path planning and servo loop control. The thesis use the multi-axis motion controller which is using TMS320C32 DSP researched and producted by TI company to be a CPU of system controller, harmony with input/output、communications etc. mode. The DSP motion controller can run many works, such as motion path planning and servo loop control. The machine need using servo loop control to track reference command and reach the purpose of control after producting the reference command. The thesis realize plenty control theories in multi-axis motion controller, such as Feed-forward controller、Notch filter、PID controller、 Fuzzy controller、FuzzyPID controller、Model reference adaptive controller、Self-tuning adaptive controller、Neural network controller、 Learning controller、Sliding mode controller etc. To observe and analysis the characteristics of plenty control theories by figures of system response.