Intelligent Control of Robot Manipulator

Yang, Chenguang; Ma, Hongbin; Fu, Mengyin

doi:10.1007/978-981-10-0830-6_3

Cited by 2 publications

(2 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This hardware module implements all inverse kinematics equations presented in Section 4.2 , i.e., Equations ( 18 )–( 25 ). There are several techniques and approaches that can be used in the FCS module ranging from more traditional techniques such as a proportional-integral-derivative controller [ 44 ] to more innovative artificial intelligence based techniques [ 45 , 46 ].…”

Section: Simulated Tactile Internet Modelmentioning

confidence: 99%

FPGA Applied to Latency Reduction for the Tactile Internet

José

Silva

Torquato

et al. 2022

Sensors

View full text Add to dashboard Cite

Tactile internet applications allow robotic devices to be remotely controlled over a communication medium with an unnoticeable time delay. In bilateral communication, the acceptable round trip latency is usually 1 ms up to 10 ms, depending on the application requirements. The communication network is estimated to generate 70% of the total latency, and master and slave devices produce the remaining 30%. Thus, this paper proposes a strategy to reduce 30% of the total latency produced by such devices. The strategy is to use FPGAs to minimize the execution time of device-associated algorithms. With this in mind, this work presents a new hardware reference model for modules that implement nonlinear positioning and force calculations and a tactile system formed by two robotic manipulators. In addition to presenting the implementation details, simulations and experimental tests are performed in order to validate the hardware proposed model. Results associated with the FPGA sampling rate, throughput, latency, and post-synthesis occupancy area are analyzed.

show abstract

Section: Simulated Tactile Internet Modelmentioning

confidence: 99%

FPGA Applied to Latency Reduction for the Tactile Internet

José

Silva

Torquato

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…( 18) through (25). There are several techniques and approaches that can be used in the FCS module ranging from more traditional techniques such as a proportionalâ Ȃ Şintegralâ Ȃ Şderivative controller [36] to more innovative artificial intelligence based techniques [37], [38].…”

Section: Simulated Tactile Internet Modelmentioning

confidence: 99%

Reconfigurable Computing Applied to Latency Reduction for the Tactile Internet

Junior,

Torquato,

Mahmoodi

et al. 2020

Preprint

View full text Add to dashboard Cite

Tactile internet applications allow robotic devices to be remotely controlled over a communication medium with an unnoticeable time delay. In a bilateral communication, the acceptable round trip latency is usually in the order of 1 ms up to 10 ms depending on the application requirements. It is estimated that 70% of the total latency is generated by the communication network, and the remaining 30% is produced by master and slave devices. Thus, this paper aims to propose a strategy to reduce the 30% of total latency that is produced by such devices. The strategy is to apply reconfigurable computation using FPGAs to minimize the execution time of device-associated algorithms. With this in mind, this work presents a hardware reference model for modules that implement nonlinear positioning and force calculations as well as a tactile system formed by two robotic manipulators. In addition to presenting the implementation details, simulations and experimental tests are performed in order to validate the proposed model. Results associated with the FPGA sampling rate, throughput, latency and post-synthesis occupancy area are analyzed.

show abstract

Intelligent Control of Robot Manipulator

Cited by 2 publications

References 30 publications

FPGA Applied to Latency Reduction for the Tactile Internet

FPGA Applied to Latency Reduction for the Tactile Internet

Reconfigurable Computing Applied to Latency Reduction for the Tactile Internet

Contact Info

Product

Resources

About