Development of a CNC System for Multi-axis EDM Based on RT-Linux

Huang, Haipeng; Chi, Guanxin; Wang, Zhenlong

doi:10.1109/wcse.2009.139

Cited by 6 publications

(2 citation statements)

References 3 publications

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“…To select the control software, a state of the art is done in academic pages and databases on the internet with the support of the students. Among the results, it was found that some of the existing programs in the medium are made by other people who, not finding a good option for this application, choose to design and build their own software as mentioned in [13][14][15][16][17], where there is an open architecture but with a lot of work to develop, in this search is the aforementioned LinuxCNC, a software based on the Linux operating system Ubuntu V10.04 (Figure 6A), which implements an open architecture for numerical control of CNC machines based on the RT-Linux kernel for real-time instruction execution. Some work done with the software shows good results as in [18]; therefore, the decision is made to select the free LinuxCNC software.…”

Section: Robot Programmingmentioning

confidence: 99%

Training by Projects in an Industrial Robotic Application

Ospina¹,

Pulgarin²,

Zapata³

et al. 2020

Industrial Robotics - New Paradigms

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This chapter presents a case study of learning environments that generated a technical description of the reconditioning and commissioning of an industrial robotic arm, specifically from electronic control, mechanical design, and its application in kinematics and programming, as a pedagogical tool that powers education training. Topics are developed in a didactic way in the research hotbed such as the technology implemented to recondition the arm, the modifications that were made in terms of electrical and electronic capabilities, the analysis of the initial state of the existing electrical elements, the new devices to be implemented, and necessary calculations for the reconstruction and adaptation of the arm from the electro-mechanical point of view. It is actually the best way to promote research in the training of the student in the classroom, taking the initiative to access knowledge with the guidance of the teacher to understand the information related to the problem to be solved. The project method allows me to strengthen learning and especially the construction of knowledge of the dual relationship, SENA academy-business and theory-practice, as a training model.

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Section: Robot Programmingmentioning

confidence: 99%

Training by Projects in an Industrial Robotic Application

Ospina¹,

Pulgarin²,

Zapata³

et al. 2020

Industrial Robotics - New Paradigms

View full text Add to dashboard Cite

show abstract

“…Motion controller systems, which are responsible for driving the whole electromechanical structure accordingly, are the core of the CNC technology. Such systems have a two basic requirement: real-time performance, as poor real-time performance is likely to result in undesired tracking error [3]; and smooth trajectories, in order to mitigate vibration and to ensure the correct operation of the system's mechanical components. The tasks to be accomplished by motion controllers are: trajectory planning; motion profile generation; disturbance rejection; system diagnosis; communication; and safety operation checks [4].…”

Section: Introductionmentioning

confidence: 99%

An Embedded System-Based Snap Constrained Trajectory Planning Method for 3D Motion Systems

2019

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Computer Numerical Control (CNC) is a technology made up of several blocks. Among these, lies the Trajectory Planning block, responsible for reference profile generation that are fed to position control loops. The need for Trajectory Planning arises from the mechanical constraints inherent to every plant to which CNC technology is applied. The machine's operational limits myst be respected, in order to avoid several issues, such as: loss of precision, early wear of machine's parts and excessive vibration. This paper proposes a novel smooth real-time trajectory generation setup based on an embedded system platform. A real-time snap and jerk bounded control algorithm is proposed, to achieve continuous and smooth feed motion in traditional Numeric Control code file, dealing both with straight lines and arcs. A local motion blending algorithm, applicable to the proposed method, is also presented. The developed algorithm was deployed to a BeagleBone Black, an embedded System-on-Chip, single board computer and tested in a prototype router machine. A comparison between the proposed method against the seven segments and trapezoidal acceleration methods is presented, both in terms of performance and of real-time computing viability. Simulation and Experimental results demonstrate the effectiveness of the proposed method to generate velocity, acceleration, jerk and snap bounded three dimensional trajectories, reducing the RMS error in up to 8.2% and 22.38% when compared to the Seven Segments and to Trapezoidal Acceleration methods, respectively. Assessing the error area on straight angles, the proposed method produced error areas 24% and 80% smaller when compared to the Seven Segments and to Trapezoidal Acceleration methods, respectively.

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