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首页> 外文期刊>WSEAS Transactions on Signal Processing >Real Time Distributed Controller For Delta Robots
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Real Time Distributed Controller For Delta Robots

机译：用于Delta机器人的实时分布式控制器

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摘要

This paper investigates a real time distributed controller for a 3 DOF delta robot using low-cost educational simple microcontrollers. The parallel computing technique is used were the computational load is divided among several microcontrollers networked to each other to implement control methods. More specifically, the computation is distributed among four microcontrollers (MCU's) which are connected to each other using CAN bus protocol. The main MCU is used to compute the control law. Each of the remaining MCU's is connected to one actuator and its attached encoder to form an Intelligent sensor-actuator system (ISAS). At each sample time, the ISAS broadcast a message using the CAN bus to the main MCU containing the information about the motor position. Then according to the control law, ISAS receives the corresponding controller value that has to be applied to the motor. All required periodic, aperiodic and sporadic tasks, were implemented and will be handled by these MCU's. Using this design, the computation time of control law can be minimized and implemented using ARDUINO microcontrollers. More, this method increases the flexibility of the system for additional equipment and control by adding more nodes to the network. The results show the applicability of the proposed distributed controller, it can track different types of control signals with acceleration up to 9.8 m/s^2 (1g).
机译：本文研究了一种基于低成本教育型简单微控制器的三自由度delta机器人实时分布式控制器。采用并行计算技术，将计算负载分配给相互联网的多个微控制器，以实现控制方法。更具体地说，计算分布在使用CAN总线协议相互连接的四个微控制器（MCU）之间。主MCU用于计算控制律。其余的每个MCU都连接到一个执行器及其附带的编码器，以形成智能传感器执行器系统（ISAS）。在每个采样时间，ISAS使用CAN总线向主MCU广播一条消息，其中包含有关电机位置的信息。然后根据控制律，ISAS接收必须应用于电机的相应控制器值。所有需要的周期性、非周期性和零星任务都已实现，并将由这些MCU处理。使用这种设计，可以最小化控制律的计算时间，并使用ARDUINO微控制器实现。此外，该方法通过向网络中添加更多节点，增加了系统对额外设备和控制的灵活性。结果表明，所提出的分布式控制器具有一定的适用性，它可以跟踪加速度高达9.8m/s^2（1g）的不同类型的控制信号。

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